diff --git "a/2024-10-01-12-00-49/splats/5c80618d/transforms.json" "b/2024-10-01-12-00-49/splats/5c80618d/transforms.json" new file mode 100644--- /dev/null +++ "b/2024-10-01-12-00-49/splats/5c80618d/transforms.json" @@ -0,0 +1,16638 @@ +{ + "camera_model": "OPENCV", + "frames": [ + { + "file_path": "../../rgb/hdr_front_02013.png", + "transform_matrix": [ + [ + -0.2599020302295685, + -0.012577246874570847, + 0.9655531048774719, + 34.624542236328125 + ], + [ + -0.9656350016593933, + 0.0034005120396614075, + -0.25987985730171204, + 24.04380226135254 + ], + [ + -1.4802144505665638e-05, + -0.9999151825904846, + -0.013028830289840698, + -0.2174569070339203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2013, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777056_811734199", + "mask_path": "../../mask/hdr_front_02013.png" + }, + { + "file_path": "../../rgb/hdr_front_02014.png", + "transform_matrix": [ + [ + -0.28078487515449524, + -0.014898275025188923, + 0.9596551656723022, + 34.56324005126953 + ], + [ + -0.9597659707069397, + 0.007491792552173138, + -0.28070104122161865, + 24.0694637298584 + ], + [ + -0.0030075754038989544, + -0.999860942363739, + -0.016402442008256912, + -0.21919287741184235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2014, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777056_911734342", + "mask_path": "../../mask/hdr_front_02014.png" + }, + { + "file_path": "../../rgb/hdr_front_02015.png", + "transform_matrix": [ + [ + -0.2959650158882141, + -0.013332314789295197, + 0.9551057815551758, + 34.464717864990234 + ], + [ + -0.955134928226471, + 0.01569121889770031, + -0.2957550585269928, + 24.094396591186523 + ], + [ + -0.011043672449886799, + -0.9997880458831787, + -0.01737820915877819, + -0.22039896249771118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2015, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_11734724", + "mask_path": "../../mask/hdr_front_02015.png" + }, + { + "file_path": "../../rgb/hdr_front_02016.png", + "transform_matrix": [ + [ + -0.3022173047065735, + -0.004801738541573286, + 0.9532269239425659, + 34.363773345947266 + ], + [ + -0.9530295133590698, + 0.0224897600710392, + -0.3020413815975189, + 24.10637855529785 + ], + [ + -0.019987521693110466, + -0.9997355341911316, + -0.011372992768883705, + -0.2207575887441635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2016, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_111735820", + "mask_path": "../../mask/hdr_front_02016.png" + }, + { + "file_path": "../../rgb/hdr_front_02017.png", + "transform_matrix": [ + [ + -0.31580308079719543, + -0.003509140806272626, + 0.9488183259963989, + 34.3040657043457 + ], + [ + -0.9486106634140015, + 0.02241145633161068, + -0.3156510889530182, + 24.12078094482422 + ], + [ + -0.020156733691692352, + -0.9997426867485046, + -0.010406414978206158, + -0.22417588531970978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2017, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_211735725", + "mask_path": "../../mask/hdr_front_02017.png" + }, + { + "file_path": "../../rgb/hdr_front_02018.png", + "transform_matrix": [ + [ + -0.3389919698238373, + -0.006841829977929592, + 0.940764307975769, + 34.232330322265625 + ], + [ + -0.94068443775177, + 0.01739382930099964, + -0.338836669921875, + 24.152982711791992 + ], + [ + -0.0140452329069376, + -0.9998252987861633, + -0.012332368642091751, + -0.22136718034744263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2018, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_311736583", + "mask_path": "../../mask/hdr_front_02018.png" + }, + { + "file_path": "../../rgb/hdr_front_02019.png", + "transform_matrix": [ + [ + -0.3670438230037689, + -0.009898479096591473, + 0.9301510453224182, + 34.14188003540039 + ], + [ + -0.9301809072494507, + 0.010894878767430782, + -0.3669397532939911, + 24.19284439086914 + ], + [ + -0.006501735653728247, + -0.9998916983604431, + -0.01320627424865961, + -0.21102675795555115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2019, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_411734580", + "mask_path": "../../mask/hdr_front_02019.png" + }, + { + "file_path": "../../rgb/hdr_front_02020.png", + "transform_matrix": [ + [ + -0.39492568373680115, + -0.0104983514174819, + 0.918653130531311, + 34.07181930541992 + ], + [ + -0.918706476688385, + 0.008305495604872704, + -0.3948536813259125, + 24.222631454467773 + ], + [ + -0.003484556684270501, + -0.9999104142189026, + -0.012924956157803535, + -0.20329394936561584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2020, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_511734724", + "mask_path": "../../mask/hdr_front_02020.png" + }, + { + "file_path": "../../rgb/hdr_front_02021.png", + "transform_matrix": [ + [ + -0.41856929659843445, + -0.011669852770864964, + 0.9081098437309265, + 34.00574493408203 + ], + [ + -0.9081404209136963, + 0.015266652218997478, + -0.41838714480400085, + 24.253982543945312 + ], + [ + -0.008981280028820038, + -0.9998153448104858, + -0.016988016664981842, + -0.20547378063201904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2021, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_611734628", + "mask_path": "../../mask/hdr_front_02021.png" + }, + { + "file_path": "../../rgb/hdr_front_02022.png", + "transform_matrix": [ + [ + -0.4328831434249878, + -0.008167337626218796, + 0.9014130234718323, + 33.90467071533203 + ], + [ + -0.901310384273529, + 0.021527450531721115, + -0.43263882398605347, + 24.29297637939453 + ], + [ + -0.015871616080403328, + -0.9997349977493286, + -0.016680175438523293, + -0.2074950486421585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2022, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_711736202", + "mask_path": "../../mask/hdr_front_02022.png" + }, + { + "file_path": "../../rgb/hdr_front_02023.png", + "transform_matrix": [ + [ + -0.4358794093132019, + -0.0025054735597223043, + 0.900001585483551, + 33.81810760498047 + ], + [ + -0.8998104333877563, + 0.02200673520565033, + -0.4357256591320038, + 24.323471069335938 + ], + [ + -0.01871439814567566, + -0.9997546672821045, + -0.011846736073493958, + -0.20725277066230774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2023, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_811736106", + "mask_path": "../../mask/hdr_front_02023.png" + }, + { + "file_path": "../../rgb/hdr_front_02024.png", + "transform_matrix": [ + [ + -0.44209250807762146, + -0.004539753310382366, + 0.8969579935073853, + 33.75629425048828 + ], + [ + -0.8968303203582764, + 0.019850706681609154, + -0.4419291317462921, + 24.34539794921875 + ], + [ + -0.01579900272190571, + -0.999792754650116, + -0.012847237288951874, + -0.21064844727516174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2024, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_911739349", + "mask_path": "../../mask/hdr_front_02024.png" + }, + { + "file_path": "../../rgb/hdr_front_02025.png", + "transform_matrix": [ + [ + -0.45327872037887573, + -0.01003220397979021, + 0.8913124799728394, + 33.67574691772461 + ], + [ + -0.8913266658782959, + 0.014836765825748444, + -0.4531189799308777, + 24.387882232666016 + ], + [ + -0.008678410202264786, + -0.9998396039009094, + -0.015667159110307693, + -0.20498262345790863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2025, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_11734008", + "mask_path": "../../mask/hdr_front_02025.png" + }, + { + "file_path": "../../rgb/hdr_front_02026.png", + "transform_matrix": [ + [ + -0.4699430465698242, + -0.014525007456541061, + 0.8825772404670715, + 33.594886779785156 + ], + [ + -0.8826945424079895, + 0.009961132891476154, + -0.4698415696620941, + 24.439041137695312 + ], + [ + -0.00196701567620039, + -0.9998449087142944, + -0.017502309754490852, + -0.19151932001113892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2026, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_111733913", + "mask_path": "../../mask/hdr_front_02026.png" + }, + { + "file_path": "../../rgb/hdr_front_02027.png", + "transform_matrix": [ + [ + -0.4873952865600586, + -0.01730799674987793, + 0.873009979724884, + 33.53897476196289 + ], + [ + -0.8731812834739685, + 0.010258741676807404, + -0.4872875511646271, + 24.47458839416504 + ], + [ + -0.0005220093880780041, + -0.9997975826263428, + -0.020113080739974976, + -0.18631769716739655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2027, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_211734056", + "mask_path": "../../mask/hdr_front_02027.png" + }, + { + "file_path": "../../rgb/hdr_front_02028.png", + "transform_matrix": [ + [ + -0.5028639435768127, + -0.016704361885786057, + 0.8642042279243469, + 33.46381759643555 + ], + [ + -0.8643524646759033, + 0.015214827843010426, + -0.5026562213897705, + 24.516754150390625 + ], + [ + -0.004752165637910366, + -0.9997447729110718, + -0.02208944596350193, + -0.18786285817623138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2028, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_311735391", + "mask_path": "../../mask/hdr_front_02028.png" + }, + { + "file_path": "../../rgb/hdr_front_02029.png", + "transform_matrix": [ + [ + -0.5114017128944397, + -0.010099138133227825, + 0.8592824339866638, + 33.37055969238281 + ], + [ + -0.8592563271522522, + 0.02010808326303959, + -0.5111498832702637, + 24.564022064208984 + ], + [ + -0.01211635023355484, + -0.9997468590736389, + -0.01896105892956257, + -0.18456301093101501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2029, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_411733865", + "mask_path": "../../mask/hdr_front_02029.png" + }, + { + "file_path": "../../rgb/hdr_front_02030.png", + "transform_matrix": [ + [ + -0.5095216035842896, + -0.008054273203015327, + 0.8604202270507812, + 33.30189895629883 + ], + [ + -0.8603383898735046, + 0.02143489010632038, + -0.5092725157737732, + 24.595033645629883 + ], + [ + -0.01434119138866663, + -0.9997378587722778, + -0.01785094104707241, + -0.184971421957016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2030, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_511734008", + "mask_path": "../../mask/hdr_front_02030.png" + }, + { + "file_path": "../../rgb/hdr_front_02031.png", + "transform_matrix": [ + [ + -0.5067956447601318, + -0.011777847073972225, + 0.8619857430458069, + 33.23365020751953 + ], + [ + -0.8620206117630005, + 0.01721075549721718, + -0.5065810680389404, + 24.62593650817871 + ], + [ + -0.00886899046599865, + -0.9997825622558594, + -0.018875081092119217, + -0.186301589012146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2031, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_611734390", + "mask_path": "../../mask/hdr_front_02031.png" + }, + { + "file_path": "../../rgb/hdr_front_02032.png", + "transform_matrix": [ + [ + -0.5099144577980042, + -0.01721930503845215, + 0.860052764415741, + 33.14873504638672 + ], + [ + -0.8602250814437866, + 0.010402524843811989, + -0.5098083019256592, + 24.673662185668945 + ], + [ + -0.00016817363211885095, + -0.9997976422309875, + -0.02011687681078911, + -0.17921389639377594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2032, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_711734294", + "mask_path": "../../mask/hdr_front_02032.png" + }, + { + "file_path": "../../rgb/hdr_front_02033.png", + "transform_matrix": [ + [ + -0.5192130208015442, + -0.01948177069425583, + 0.8544228076934814, + 33.073097229003906 + ], + [ + -0.8546250462532043, + 0.005029006395488977, + -0.5192212462425232, + 24.718582153320312 + ], + [ + 0.0058184522204101086, + -0.9997975826263428, + -0.01926073431968689, + -0.16561287641525269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2033, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_811734199", + "mask_path": "../../mask/hdr_front_02033.png" + }, + { + "file_path": "../../rgb/hdr_front_02034.png", + "transform_matrix": [ + [ + -0.5319859385490417, + -0.022820033133029938, + 0.8464457392692566, + 33.019405364990234 + ], + [ + -0.8467215895652771, + 0.0056916954927146435, + -0.5320059061050415, + 24.756332397460938 + ], + [ + 0.007322681602090597, + -0.9997234344482422, + -0.022350117564201355, + -0.16269075870513916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2034, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_911734104", + "mask_path": "../../mask/hdr_front_02034.png" + }, + { + "file_path": "../../rgb/hdr_front_02035.png", + "transform_matrix": [ + [ + -0.5470792651176453, + -0.01929132267832756, + 0.8368585705757141, + 32.939884185791016 + ], + [ + -0.8370808362960815, + 0.012150663882493973, + -0.5469444394111633, + 24.816659927368164 + ], + [ + 0.0003828948538284749, + -0.9997400641441345, + -0.022795770317316055, + -0.1616564393043518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2035, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_11735200", + "mask_path": "../../mask/hdr_front_02035.png" + }, + { + "file_path": "../../rgb/hdr_front_02036.png", + "transform_matrix": [ + [ + -0.5582106113433838, + -0.007125194650143385, + 0.8296687006950378, + 32.852901458740234 + ], + [ + -0.829624354839325, + 0.01822487637400627, + -0.5580242872238159, + 24.87298583984375 + ], + [ + -0.011144577525556087, + -0.9998085498809814, + -0.01608455553650856, + -0.16260755062103271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2036, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_111734628", + "mask_path": "../../mask/hdr_front_02036.png" + }, + { + "file_path": "../../rgb/hdr_front_02037.png", + "transform_matrix": [ + [ + -0.5681545734405518, + -0.00434904033318162, + 0.8229103684425354, + 32.79963684082031 + ], + [ + -0.8227992057800293, + 0.020265378057956696, + -0.5679707527160645, + 24.9040470123291 + ], + [ + -0.014206459745764732, + -0.9997851848602295, + -0.015092253684997559, + -0.16609176993370056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2037, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_211734056", + "mask_path": "../../mask/hdr_front_02037.png" + }, + { + "file_path": "../../rgb/hdr_front_02038.png", + "transform_matrix": [ + [ + -0.5814226269721985, + -0.008980581536889076, + 0.81355220079422, + 32.74140167236328 + ], + [ + -0.8135586380958557, + 0.01669848896563053, + -0.5812429785728455, + 24.95116424560547 + ], + [ + -0.008365191519260406, + -0.999820351600647, + -0.017015110701322556, + -0.16578033566474915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2038, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_311735630", + "mask_path": "../../mask/hdr_front_02038.png" + }, + { + "file_path": "../../rgb/hdr_front_02039.png", + "transform_matrix": [ + [ + -0.6005041599273682, + -0.013508414849638939, + 0.7995075583457947, + 32.66644287109375 + ], + [ + -0.7996203303337097, + 0.01190048549324274, + -0.6003878712654114, + 25.02086067199707 + ], + [ + -0.0014042395632714033, + -0.9998379349708557, + -0.01794789545238018, + -0.15448224544525146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2039, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_411734819", + "mask_path": "../../mask/hdr_front_02039.png" + }, + { + "file_path": "../../rgb/hdr_front_02040.png", + "transform_matrix": [ + [ + -0.6246203184127808, + -0.013116883113980293, + 0.7808184027671814, + 32.614707946777344 + ], + [ + -0.7809267044067383, + 0.01263830903917551, + -0.6244946718215942, + 25.07698631286621 + ], + [ + -0.0016767984488978982, + -0.9998341798782349, + -0.01813747175037861, + -0.14547738432884216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2040, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_511734485", + "mask_path": "../../mask/hdr_front_02040.png" + }, + { + "file_path": "../../rgb/hdr_front_02041.png", + "transform_matrix": [ + [ + -0.6489370465278625, + -0.011423716321587563, + 0.7607563734054565, + 32.56885528564453 + ], + [ + -0.7608057260513306, + 0.019524402916431427, + -0.6486859321594238, + 25.128320693969727 + ], + [ + -0.00744290929287672, + -0.999744176864624, + -0.02136133424937725, + -0.14936915040016174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2041, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_611734151", + "mask_path": "../../mask/hdr_front_02041.png" + }, + { + "file_path": "../../rgb/hdr_front_02042.png", + "transform_matrix": [ + [ + -0.6691913604736328, + -0.006282836198806763, + 0.7430636286735535, + 32.497039794921875 + ], + [ + -0.7429666519165039, + 0.02388348989188671, + -0.6689021587371826, + 25.198123931884766 + ], + [ + -0.013544347137212753, + -0.9996950030326843, + -0.020650560036301613, + -0.14789344370365143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2042, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_711735248", + "mask_path": "../../mask/hdr_front_02042.png" + }, + { + "file_path": "../../rgb/hdr_front_02043.png", + "transform_matrix": [ + [ + -0.6834949851036072, + 0.00021527211356442422, + 0.7299551367759705, + 32.42405700683594 + ], + [ + -0.7296671867370605, + 0.027884308248758316, + -0.6832336783409119, + 25.25898551940918 + ], + [ + -0.02050137147307396, + -0.9996111989021301, + -0.018901707604527473, + -0.14204049110412598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2043, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_811737298", + "mask_path": "../../mask/hdr_front_02043.png" + }, + { + "file_path": "../../rgb/hdr_front_02044.png", + "transform_matrix": [ + [ + -0.7011219263076782, + -0.0005641187890432775, + 0.7130411267280579, + 32.375362396240234 + ], + [ + -0.712711751461029, + 0.03095639869570732, + -0.7007735371589661, + 25.301904678344727 + ], + [ + -0.021677864715456963, + -0.9995205998420715, + -0.022106263786554337, + -0.14375847578048706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2044, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_911735296", + "mask_path": "../../mask/hdr_front_02044.png" + }, + { + "file_path": "../../rgb/hdr_front_02045.png", + "transform_matrix": [ + [ + -0.7227033376693726, + -0.0065589421428740025, + 0.6911273002624512, + 32.31807327270508 + ], + [ + -0.6909806728363037, + 0.02953629195690155, + -0.722269594669342, + 25.37415313720703 + ], + [ + -0.015676012262701988, + -0.999542236328125, + -0.02587807923555374, + -0.13693246245384216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2045, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_11735677", + "mask_path": "../../mask/hdr_front_02045.png" + }, + { + "file_path": "../../rgb/hdr_front_02046.png", + "transform_matrix": [ + [ + -0.7479004263877869, + -0.013274548575282097, + 0.6636780500411987, + 32.25862503051758 + ], + [ + -0.6637697219848633, + 0.02606436051428318, + -0.7474827170372009, + 25.45527458190918 + ], + [ + -0.007375848945230246, + -0.999572217464447, + -0.028304792940616608, + -0.1251964271068573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2046, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_111735582", + "mask_path": "../../mask/hdr_front_02046.png" + }, + { + "file_path": "../../rgb/hdr_front_02047.png", + "transform_matrix": [ + [ + -0.77201247215271, + -0.016205422580242157, + 0.6354007720947266, + 32.22085952758789 + ], + [ + -0.635595440864563, + 0.02582339383661747, + -0.7715903520584106, + 25.50609588623047 + ], + [ + -0.00390425487421453, + -0.9995352029800415, + -0.030236072838306427, + -0.11904755979776382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2047, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_211735010", + "mask_path": "../../mask/hdr_front_02047.png" + }, + { + "file_path": "../../rgb/hdr_front_02048.png", + "transform_matrix": [ + [ + -0.7927638292312622, + -0.011524122208356857, + 0.6094200015068054, + 32.17515563964844 + ], + [ + -0.6094672679901123, + 0.02920081652700901, + -0.7922732830047607, + 25.558570861816406 + ], + [ + -0.008665304630994797, + -0.9995071887969971, + -0.03017292730510235, + -0.1227271556854248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2048, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_311734437", + "mask_path": "../../mask/hdr_front_02048.png" + }, + { + "file_path": "../../rgb/hdr_front_02049.png", + "transform_matrix": [ + [ + -0.8053730726242065, + -0.0035162302665412426, + 0.5927579402923584, + 32.10617446899414 + ], + [ + -0.5925867557525635, + 0.02951872907578945, + -0.8049654960632324, + 25.627504348754883 + ], + [ + -0.014667012728750706, + -0.9995580315589905, + -0.025857262313365936, + -0.11786377429962158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2049, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_411734580", + "mask_path": "../../mask/hdr_front_02049.png" + }, + { + "file_path": "../../rgb/hdr_front_02050.png", + "transform_matrix": [ + [ + -0.8061162233352661, + -0.0019837021827697754, + 0.5917539596557617, + 32.04395294189453 + ], + [ + -0.5915468335151672, + 0.029367737472057343, + -0.8057356476783752, + 25.681657791137695 + ], + [ + -0.015780134126544, + -0.9995667338371277, + -0.02484726347029209, + -0.11612516641616821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2050, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_511735439", + "mask_path": "../../mask/hdr_front_02050.png" + }, + { + "file_path": "../../rgb/hdr_front_02051.png", + "transform_matrix": [ + [ + -0.8053373098373413, + -0.006225944962352514, + 0.5927841067314148, + 31.995586395263672 + ], + [ + -0.5927126407623291, + 0.02720060758292675, + -0.8049545884132385, + 25.729177474975586 + ], + [ + -0.011112485080957413, + -0.9996106028556824, + -0.02559586428105831, + -0.12225501239299774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2051, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_611734390", + "mask_path": "../../mask/hdr_front_02051.png" + }, + { + "file_path": "../../rgb/hdr_front_02052.png", + "transform_matrix": [ + [ + -0.8072590231895447, + -0.014649435877799988, + 0.5900155305862427, + 31.93559455871582 + ], + [ + -0.5901967287063599, + 0.021532973274588585, + -0.806972324848175, + 25.789316177368164 + ], + [ + -0.0008830993319861591, + -0.9996607899665833, + -0.02602873370051384, + -0.11733904480934143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2052, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_711734533", + "mask_path": "../../mask/hdr_front_02052.png" + }, + { + "file_path": "../../rgb/hdr_front_02053.png", + "transform_matrix": [ + [ + -0.812725305557251, + -0.019685640931129456, + 0.5823144316673279, + 31.885143280029297 + ], + [ + -0.5826099514961243, + 0.016171112656593323, + -0.8125910758972168, + 25.853322982788086 + ], + [ + 0.0065797013230621815, + -0.999675452709198, + -0.024611718952655792, + -0.1019892767071724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2053, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_811734199", + "mask_path": "../../mask/hdr_front_02053.png" + }, + { + "file_path": "../../rgb/hdr_front_02054.png", + "transform_matrix": [ + [ + -0.8180086612701416, + -0.02280275709927082, + 0.5747537016868591, + 31.845626831054688 + ], + [ + -0.5751306414604187, + 0.01626228541135788, + -0.8178999423980713, + 25.906803131103516 + ], + [ + 0.009303566068410873, + -0.9996077418327332, + -0.026417257264256477, + -0.09556654095649719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2054, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_911734580", + "mask_path": "../../mask/hdr_front_02054.png" + }, + { + "file_path": "../../rgb/hdr_front_02055.png", + "transform_matrix": [ + [ + -0.8210356831550598, + -0.01851418986916542, + 0.5705766677856445, + 31.790449142456055 + ], + [ + -0.5708531737327576, + 0.017522376030683517, + -0.8208652138710022, + 25.974822998046875 + ], + [ + 0.005199795588850975, + -0.9996750354766846, + -0.024955378845334053, + -0.09762466698884964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2055, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_11734485", + "mask_path": "../../mask/hdr_front_02055.png" + }, + { + "file_path": "../../rgb/hdr_front_02056.png", + "transform_matrix": [ + [ + -0.8194403648376465, + -0.005907861981540918, + 0.5731340646743774, + 31.7203369140625 + ], + [ + -0.5731422305107117, + 0.017256608232855797, + -0.8192742466926575, + 26.05023765563965 + ], + [ + -0.005050190724432468, + -0.9998336434364319, + -0.01752680540084839, + -0.1006445363163948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2056, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_111734390", + "mask_path": "../../mask/hdr_front_02056.png" + }, + { + "file_path": "../../rgb/hdr_front_02057.png", + "transform_matrix": [ + [ + -0.8159888386726379, + -0.002452488522976637, + 0.5780624747276306, + 31.66609001159668 + ], + [ + -0.5779927968978882, + 0.019549207761883736, + -0.8158077597618103, + 26.10175323486328 + ], + [ + -0.009299901314079762, + -0.9998059272766113, + -0.017369460314512253, + -0.10487094521522522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2057, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_211734294", + "mask_path": "../../mask/hdr_front_02057.png" + }, + { + "file_path": "../../rgb/hdr_front_02058.png", + "transform_matrix": [ + [ + -0.8161292672157288, + -0.008582533337175846, + 0.5778056979179382, + 31.616085052490234 + ], + [ + -0.5778500437736511, + 0.02030324377119541, + -0.815890371799469, + 26.156038284301758 + ], + [ + -0.004728923086076975, + -0.9997571110725403, + -0.021529486402869225, + -0.10782570391893387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2058, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_311735153", + "mask_path": "../../mask/hdr_front_02058.png" + }, + { + "file_path": "../../rgb/hdr_front_02059.png", + "transform_matrix": [ + [ + -0.8208448886871338, + -0.016916314139962196, + 0.5709006786346436, + 31.554431915283203 + ], + [ + -0.5711454749107361, + 0.019826354458928108, + -0.820609450340271, + 26.234088897705078 + ], + [ + 0.002562808571383357, + -0.999660313129425, + -0.025936035439372063, + -0.09760639071464539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2059, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_411734580", + "mask_path": "../../mask/hdr_front_02059.png" + }, + { + "file_path": "../../rgb/hdr_front_02060.png", + "transform_matrix": [ + [ + -0.8290258049964905, + -0.020542433485388756, + 0.5588329434394836, + 31.507192611694336 + ], + [ + -0.5591628551483154, + 0.01741667464375496, + -0.828874945640564, + 26.308542251586914 + ], + [ + 0.0072940983809530735, + -0.9996373057365417, + -0.02592543512582779, + -0.08087737113237381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2060, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_511734962", + "mask_path": "../../mask/hdr_front_02060.png" + }, + { + "file_path": "../../rgb/hdr_front_02061.png", + "transform_matrix": [ + [ + -0.8358204960823059, + -0.01802978105843067, + 0.5487067103385925, + 31.466630935668945 + ], + [ + -0.5489943027496338, + 0.02190183475613594, + -0.8355391025543213, + 26.361398696899414 + ], + [ + 0.003046905854716897, + -0.9995975494384766, + -0.02820424735546112, + -0.08270062506198883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2061, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_611733675", + "mask_path": "../../mask/hdr_front_02061.png" + }, + { + "file_path": "../../rgb/hdr_front_02062.png", + "transform_matrix": [ + [ + -0.8389365077018738, + -0.009648618288338184, + 0.5441439151763916, + 31.403491973876953 + ], + [ + -0.5441942811012268, + 0.02624404802918434, + -0.8385487198829651, + 26.43523406982422 + ], + [ + -0.006189700681716204, + -0.9996090531349182, + -0.027267809957265854, + -0.08361335098743439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2062, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_711735010", + "mask_path": "../../mask/hdr_front_02062.png" + }, + { + "file_path": "../../rgb/hdr_front_02063.png", + "transform_matrix": [ + [ + -0.8394463062286377, + 0.0008805269608274102, + 0.543441891670227, + 31.330596923828125 + ], + [ + -0.5432607531547546, + 0.024510959163308144, + -0.8392060995101929, + 26.50484848022461 + ], + [ + -0.014059226959943771, + -0.9996991753578186, + -0.0200972780585289, + -0.08267822861671448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2063, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_811735630", + "mask_path": "../../mask/hdr_front_02063.png" + }, + { + "file_path": "../../rgb/hdr_front_02064.png", + "transform_matrix": [ + [ + -0.8454046249389648, + 0.0017973919166252017, + 0.5341233611106873, + 31.282602310180664 + ], + [ + -0.5339600443840027, + 0.02211439236998558, + -0.8452205061912537, + 26.55998992919922 + ], + [ + -0.013331005349755287, + -0.9997538924217224, + -0.01773587428033352, + -0.08576555550098419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2064, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_911734342", + "mask_path": "../../mask/hdr_front_02064.png" + }, + { + "file_path": "../../rgb/hdr_front_02065.png", + "transform_matrix": [ + [ + -0.8579168915748596, + -0.005571617279201746, + 0.5137581825256348, + 31.240224838256836 + ], + [ + -0.5137738585472107, + 0.01683478057384491, + -0.8577603697776794, + 26.62583351135254 + ], + [ + -0.003869893029332161, + -0.9998427629470825, + -0.017305392771959305, + -0.08236191421747208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2065, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_11734724", + "mask_path": "../../mask/hdr_front_02065.png" + }, + { + "file_path": "../../rgb/hdr_front_02066.png", + "transform_matrix": [ + [ + -0.8735944032669067, + -0.011607986874878407, + 0.4865162670612335, + 31.19242286682129 + ], + [ + -0.48663875460624695, + 0.012749698013067245, + -0.8735101819038391, + 26.708707809448242 + ], + [ + 0.003936759661883116, + -0.9998513460159302, + -0.016786962747573853, + -0.07407506555318832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2066, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_111734628", + "mask_path": "../../mask/hdr_front_02066.png" + }, + { + "file_path": "../../rgb/hdr_front_02067.png", + "transform_matrix": [ + [ + -0.888498842716217, + -0.012322809547185898, + 0.45871323347091675, + 31.15964698791504 + ], + [ + -0.4588557183742523, + 0.01384490355849266, + -0.8884029388427734, + 26.777156829833984 + ], + [ + 0.004596778657287359, + -0.9998282790184021, + -0.01795557513833046, + -0.066652312874794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2067, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_211733579", + "mask_path": "../../mask/hdr_front_02067.png" + }, + { + "file_path": "../../rgb/hdr_front_02068.png", + "transform_matrix": [ + [ + -0.9006090760231018, + -0.010387863032519817, + 0.4345058798789978, + 31.124235153198242 + ], + [ + -0.4346282184123993, + 0.01863965019583702, + -0.900417149066925, + 26.845401763916016 + ], + [ + 0.0012543738121166825, + -0.9997724294662476, + -0.02130189538002014, + -0.06435409188270569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2068, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_311733007", + "mask_path": "../../mask/hdr_front_02068.png" + }, + { + "file_path": "../../rgb/hdr_front_02069.png", + "transform_matrix": [ + [ + -0.9059072732925415, + -0.005435099825263023, + 0.4234411418437958, + 31.06508445739746 + ], + [ + -0.4234560430049896, + 0.021335966885089874, + -0.9056653380393982, + 26.937326431274414 + ], + [ + -0.004112142138183117, + -0.9997575879096985, + -0.021629933267831802, + -0.062184929847717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2069, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_411734342", + "mask_path": "../../mask/hdr_front_02069.png" + }, + { + "file_path": "../../rgb/hdr_front_02070.png", + "transform_matrix": [ + [ + -0.9019314646720886, + -0.00379519397392869, + 0.43186238408088684, + 31.005916595458984 + ], + [ + -0.43184682726860046, + 0.02013706974685192, + -0.9017221331596375, + 27.01005744934082 + ], + [ + -0.0052742320112884045, + -0.9997900724411011, + -0.019801201298832893, + -0.06400834769010544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2070, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_511734008", + "mask_path": "../../mask/hdr_front_02070.png" + }, + { + "file_path": "../../rgb/hdr_front_02071.png", + "transform_matrix": [ + [ + -0.8969091176986694, + -0.007885306142270565, + 0.44214460253715515, + 30.956748962402344 + ], + [ + -0.44221046566963196, + 0.020472150295972824, + -0.8966776728630066, + 27.070627212524414 + ], + [ + -0.0019810714293271303, + -0.9997593760490417, + -0.02184862457215786, + -0.06922762840986252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2071, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_611736059", + "mask_path": "../../mask/hdr_front_02071.png" + }, + { + "file_path": "../../rgb/hdr_front_02072.png", + "transform_matrix": [ + [ + -0.8913429379463196, + -0.017840087413787842, + 0.4529785215854645, + 30.900239944458008 + ], + [ + -0.4532748758792877, + 0.01953394152224064, + -0.891156792640686, + 27.1517333984375 + ], + [ + 0.007049857173115015, + -0.9996500611305237, + -0.025497904047369957, + -0.06370962411165237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2072, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_711735010", + "mask_path": "../../mask/hdr_front_02072.png" + }, + { + "file_path": "../../rgb/hdr_front_02073.png", + "transform_matrix": [ + [ + -0.8851313591003418, + -0.024186326190829277, + 0.4647122919559479, + 30.8476505279541 + ], + [ + -0.46514591574668884, + 0.017056209966540337, + -0.8850696086883545, + 27.233909606933594 + ], + [ + 0.01348035503178835, + -0.9995619654655457, + -0.02634715847671032, + -0.046489499509334564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2073, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_811735630", + "mask_path": "../../mask/hdr_front_02073.png" + }, + { + "file_path": "../../rgb/hdr_front_02074.png", + "transform_matrix": [ + [ + -0.8761173486709595, + -0.026565637439489365, + 0.48136550188064575, + 30.799549102783203 + ], + [ + -0.48188284039497375, + 0.018428487703204155, + -0.876041829586029, + 27.286758422851562 + ], + [ + 0.014401770196855068, + -0.999477207660675, + -0.02894703857600689, + -0.044973224401474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2074, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_911734104", + "mask_path": "../../mask/hdr_front_02074.png" + }, + { + "file_path": "../../rgb/hdr_front_02075.png", + "transform_matrix": [ + [ + -0.8637608885765076, + -0.024508792906999588, + 0.5033054351806641, + 30.735916137695312 + ], + [ + -0.5037513971328735, + 0.01759677566587925, + -0.8636694550514221, + 27.354616165161133 + ], + [ + 0.012310942634940147, + -0.9995447397232056, + -0.0275457464158535, + -0.05000913888216019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2075, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_11734008", + "mask_path": "../../mask/hdr_front_02075.png" + }, + { + "file_path": "../../rgb/hdr_front_02076.png", + "transform_matrix": [ + [ + -0.8463646769523621, + -0.01792171597480774, + 0.5323023200035095, + 30.656530380249023 + ], + [ + -0.532515287399292, + 0.01024181954562664, + -0.8463584780693054, + 27.4288330078125 + ], + [ + 0.009716451168060303, + -0.9997869729995728, + -0.01821189932525158, + -0.049851469695568085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2076, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_111734151", + "mask_path": "../../mask/hdr_front_02076.png" + }, + { + "file_path": "../../rgb/hdr_front_02077.png", + "transform_matrix": [ + [ + -0.8254930973052979, + -0.019244033843278885, + 0.564083993434906, + 30.587459564208984 + ], + [ + -0.5642866492271423, + 0.007062485441565514, + -0.8255487680435181, + 27.47579574584961 + ], + [ + 0.01190305408090353, + -0.999789834022522, + -0.016689183190464973, + -0.047753602266311646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2077, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_211734294", + "mask_path": "../../mask/hdr_front_02077.png" + }, + { + "file_path": "../../rgb/hdr_front_02078.png", + "transform_matrix": [ + [ + -0.8063444495201111, + -0.030493875965476036, + 0.5906597375869751, + 30.52320671081543 + ], + [ + -0.5909549593925476, + 0.0008422780665569007, + -0.8067041039466858, + 27.525737762451172 + ], + [ + 0.024102037772536278, + -0.9995346069335938, + -0.018699677661061287, + -0.04887416213750839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2078, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_311734199", + "mask_path": "../../mask/hdr_front_02078.png" + }, + { + "file_path": "../../rgb/hdr_front_02079.png", + "transform_matrix": [ + [ + -0.7924550175666809, + -0.04403254762291908, + 0.6083388328552246, + 30.448122024536133 + ], + [ + -0.6087061762809753, + -0.006066487170755863, + -0.7933725714683533, + 27.59766960144043 + ], + [ + 0.03862469643354416, + -0.9990116953849792, + -0.021995464339852333, + -0.038550689816474915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2079, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_411733865", + "mask_path": "../../mask/hdr_front_02079.png" + }, + { + "file_path": "../../rgb/hdr_front_02080.png", + "transform_matrix": [ + [ + -0.7822970151901245, + -0.05184955894947052, + 0.620743989944458, + 30.379640579223633 + ], + [ + -0.6211793422698975, + -0.009201147593557835, + -0.783614456653595, + 27.657644271850586 + ], + [ + 0.04634161666035652, + -0.9986125230789185, + -0.025009848177433014, + -0.023465149104595184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2080, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_511733770", + "mask_path": "../../mask/hdr_front_02080.png" + }, + { + "file_path": "../../rgb/hdr_front_02081.png", + "transform_matrix": [ + [ + -0.7689656019210815, + -0.05674801394343376, + 0.6367664337158203, + 30.31280517578125 + ], + [ + -0.6375277638435364, + -0.005837273318320513, + -0.7704052925109863, + 27.69970703125 + ], + [ + 0.0474359467625618, + -0.9983714818954468, + -0.03168977424502373, + -0.0222155824303627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2081, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_611733675", + "mask_path": "../../mask/hdr_front_02081.png" + }, + { + "file_path": "../../rgb/hdr_front_02082.png", + "transform_matrix": [ + [ + -0.7495507001876831, + -0.05071081966161728, + 0.6600015163421631, + 30.214263916015625 + ], + [ + -0.6607979536056519, + -0.0013967814156785607, + -0.7505624890327454, + 27.76544952392578 + ], + [ + 0.03898352012038231, + -0.9987124800682068, + -0.03246264532208443, + -0.02180446684360504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2082, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_711733102", + "mask_path": "../../mask/hdr_front_02082.png" + }, + { + "file_path": "../../rgb/hdr_front_02083.png", + "transform_matrix": [ + [ + -0.7234907746315002, + -0.03909165784716606, + 0.6892262697219849, + 30.119264602661133 + ], + [ + -0.6897110342979431, + -0.0014731921255588531, + -0.7240832448005676, + 27.81375503540039 + ], + [ + 0.029320979490876198, + -0.9992345571517944, + -0.025896105915308, + -0.020422272384166718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2083, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_811733961", + "mask_path": "../../mask/hdr_front_02083.png" + }, + { + "file_path": "../../rgb/hdr_front_02084.png", + "transform_matrix": [ + [ + -0.6977665424346924, + -0.04166176915168762, + 0.7151126265525818, + 30.046327590942383 + ], + [ + -0.7156520485877991, + -0.0027251329738646746, + -0.6984516382217407, + 27.844541549682617 + ], + [ + 0.031047502532601357, + -0.9991280436515808, + -0.02791382558643818, + -0.02143983542919159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2084, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_911733865", + "mask_path": "../../mask/hdr_front_02084.png" + }, + { + "file_path": "../../rgb/hdr_front_02085.png", + "transform_matrix": [ + [ + -0.6780708432197571, + -0.046699535101652145, + 0.7335115075111389, + 29.96240997314453 + ], + [ + -0.7339873909950256, + -0.009253270924091339, + -0.6791000366210938, + 27.89118194580078 + ], + [ + 0.038501035422086716, + -0.9988661408424377, + -0.028002500534057617, + -0.016980305314064026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2085, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_11734008", + "mask_path": "../../mask/hdr_front_02085.png" + }, + { + "file_path": "../../rgb/hdr_front_02086.png", + "transform_matrix": [ + [ + -0.6642498970031738, + -0.048228539526462555, + 0.7459531426429749, + 29.877283096313477 + ], + [ + -0.746234118938446, + -0.015511591918766499, + -0.6655030250549316, + 27.939428329467773 + ], + [ + 0.04366715997457504, + -0.9987159967422485, + -0.025686204433441162, + -0.0067602768540382385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2086, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_111733913", + "mask_path": "../../mask/hdr_front_02086.png" + }, + { + "file_path": "../../rgb/hdr_front_02087.png", + "transform_matrix": [ + [ + -0.6492916941642761, + -0.05188775435090065, + 0.7587674260139465, + 29.807825088500977 + ], + [ + -0.75919508934021, + -0.015074214898049831, + -0.6506885290145874, + 27.973194122314453 + ], + [ + 0.045200590044260025, + -0.9985392093658447, + -0.029605364426970482, + -0.0005585774779319763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2087, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_211734294", + "mask_path": "../../mask/hdr_front_02087.png" + }, + { + "file_path": "../../rgb/hdr_front_02088.png", + "transform_matrix": [ + [ + -0.6297235488891602, + -0.04799753054976463, + 0.7753351330757141, + 29.713592529296875 + ], + [ + -0.7758188843727112, + -0.01177985779941082, + -0.6308457255363464, + 28.0164794921875 + ], + [ + 0.039412371814250946, + -0.9987779855728149, + -0.029819337651133537, + -0.0033089518547058105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2088, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_311734199", + "mask_path": "../../mask/hdr_front_02088.png" + }, + { + "file_path": "../../rgb/hdr_front_02089.png", + "transform_matrix": [ + [ + -0.6039091348648071, + -0.035058025270700455, + 0.7962817549705505, + 29.606088638305664 + ], + [ + -0.7965373396873474, + -0.009388584643602371, + -0.6045163869857788, + 28.061433792114258 + ], + [ + 0.02866910956799984, + -0.9993411898612976, + -0.022255174815654755, + -0.004219241440296173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2089, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_411733388", + "mask_path": "../../mask/hdr_front_02089.png" + }, + { + "file_path": "../../rgb/hdr_front_02090.png", + "transform_matrix": [ + [ + -0.5752201676368713, + -0.03547249361872673, + 0.817229151725769, + 29.526803970336914 + ], + [ + -0.817542552947998, + -0.008424856700003147, + -0.5758063793182373, + 28.082807540893555 + ], + [ + 0.02731032855808735, + -0.9993352293968201, + -0.02415412664413452, + -0.0019901543855667114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2090, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_511734962", + "mask_path": "../../mask/hdr_front_02090.png" + }, + { + "file_path": "../../rgb/hdr_front_02091.png", + "transform_matrix": [ + [ + -0.5506571531295776, + -0.04221118986606598, + 0.8336635231971741, + 29.44019317626953 + ], + [ + -0.83387291431427, + -0.01747055910527706, + -0.5516799688339233, + 28.111469268798828 + ], + [ + 0.03785163536667824, + -0.998956024646759, + -0.02557848021388054, + 2.3826956748962402e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2091, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_611735343", + "mask_path": "../../mask/hdr_front_02091.png" + }, + { + "file_path": "../../rgb/hdr_front_02092.png", + "transform_matrix": [ + [ + -0.5348394513130188, + -0.04912693426012993, + 0.8435243964195251, + 29.340667724609375 + ], + [ + -0.8434821367263794, + -0.02785097248852253, + -0.5364347100257874, + 28.1566162109375 + ], + [ + 0.04984636977314949, + -0.9984042048454285, + -0.026541899889707565, + 0.008727587759494781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2092, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_711735248", + "mask_path": "../../mask/hdr_front_02092.png" + }, + { + "file_path": "../../rgb/hdr_front_02093.png", + "transform_matrix": [ + [ + -0.5250743627548218, + -0.05217087268829346, + 0.8494557738304138, + 29.26056671142578 + ], + [ + -0.8493773341178894, + -0.030543090775609016, + -0.5269017219543457, + 28.183090209960938 + ], + [ + 0.05343392863869667, + -0.9981710314750671, + -0.02827536128461361, + 0.018091097474098206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2093, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_811734914", + "mask_path": "../../mask/hdr_front_02093.png" + }, + { + "file_path": "../../rgb/hdr_front_02094.png", + "transform_matrix": [ + [ + -0.5151290893554688, + -0.04952008277177811, + 0.8556809425354004, + 29.176023483276367 + ], + [ + -0.8558340072631836, + -0.0247933529317379, + -0.5166560411453247, + 28.20499038696289 + ], + [ + 0.04680004343390465, + -0.9984654188156128, + -0.0296091940253973, + 0.017625823616981506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2094, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_911734819", + "mask_path": "../../mask/hdr_front_02094.png" + }, + { + "file_path": "../../rgb/hdr_front_02095.png", + "transform_matrix": [ + [ + -0.5023162961006165, + -0.03906179592013359, + 0.8638013005256653, + 29.061622619628906 + ], + [ + -0.8640807867050171, + -0.014630389399826527, + -0.5031404495239258, + 28.243860244750977 + ], + [ + 0.032291315495967865, + -0.9991297125816345, + -0.026403464376926422, + 0.01745392382144928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2095, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_11735439", + "mask_path": "../../mask/hdr_front_02095.png" + }, + { + "file_path": "../../rgb/hdr_front_02096.png", + "transform_matrix": [ + [ + -0.48388636112213135, + -0.035076018422842026, + 0.8744275569915771, + 28.96871566772461 + ], + [ + -0.874730110168457, + -0.010849437676370144, + -0.48448896408081055, + 28.26938247680664 + ], + [ + 0.026480993255972862, + -0.9993258118629456, + -0.025432158261537552, + 0.019862323999404907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2096, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_111734628", + "mask_path": "../../mask/hdr_front_02096.png" + }, + { + "file_path": "../../rgb/hdr_front_02097.png", + "transform_matrix": [ + [ + -0.4685656428337097, + -0.03596137464046478, + 0.8826963901519775, + 28.892333984375 + ], + [ + -0.8830233812332153, + -0.011198428459465504, + -0.4691954255104065, + 28.288421630859375 + ], + [ + 0.026757720857858658, + -0.9992904663085938, + -0.026507534086704254, + 0.021307535469532013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2097, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_211734294", + "mask_path": "../../mask/hdr_front_02097.png" + }, + { + "file_path": "../../rgb/hdr_front_02098.png", + "transform_matrix": [ + [ + -0.46140003204345703, + -0.037376511842012405, + 0.8864045739173889, + 28.79646873474121 + ], + [ + -0.8866140246391296, + -0.016639186069369316, + -0.46221065521240234, + 28.322555541992188 + ], + [ + 0.03202487528324127, + -0.9991627335548401, + -0.025461215525865555, + 0.025009900331497192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2098, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_311734914", + "mask_path": "../../mask/hdr_front_02098.png" + }, + { + "file_path": "../../rgb/hdr_front_02099.png", + "transform_matrix": [ + [ + -0.4587574899196625, + -0.03751680254936218, + 0.8877691626548767, + 28.709522247314453 + ], + [ + -0.8878727555274963, + -0.019976235926151276, + -0.4596552848815918, + 28.35324478149414 + ], + [ + 0.03497908264398575, + -0.9990963339805603, + -0.02414589375257492, + 0.03352310508489609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2099, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_411734342", + "mask_path": "../../mask/hdr_front_02099.png" + }, + { + "file_path": "../../rgb/hdr_front_02100.png", + "transform_matrix": [ + [ + -0.45280104875564575, + -0.039323508739471436, + 0.8907440304756165, + 28.634906768798828 + ], + [ + -0.8910165429115295, + -0.016534989699721336, + -0.45366957783699036, + 28.377729415893555 + ], + [ + 0.032568320631980896, + -0.9990897178649902, + -0.0275508351624012, + 0.03495930880308151 + ], + [ + 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": "1727777065_511734485", + "mask_path": "../../mask/hdr_front_02100.png" + }, + { + "file_path": "../../rgb/hdr_front_02101.png", + "transform_matrix": [ + [ + -0.44148826599121094, + -0.03380591422319412, + 0.8966299295425415, + 28.532236099243164 + ], + [ + -0.8969583511352539, + -0.00957891158759594, + -0.44201117753982544, + 28.408313751220703 + ], + [ + 0.02353133261203766, + -0.9993826150894165, + -0.02609352022409439, + 0.03263518214225769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2101, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_611734867", + "mask_path": "../../mask/hdr_front_02101.png" + }, + { + "file_path": "../../rgb/hdr_front_02102.png", + "transform_matrix": [ + [ + -0.4229596257209778, + -0.0214624535292387, + 0.9058943390846252, + 28.42959976196289 + ], + [ + -0.9060395956039429, + -0.005484316498041153, + -0.4231574237346649, + 28.43079376220703 + ], + [ + 0.01405020896345377, + -0.9997546672821045, + -0.017126187682151794, + 0.030507251620292664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2102, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_711735248", + "mask_path": "../../mask/hdr_front_02102.png" + }, + { + "file_path": "../../rgb/hdr_front_02103.png", + "transform_matrix": [ + [ + -0.40526747703552246, + -0.020015396177768707, + 0.9139789938926697, + 28.3519344329834 + ], + [ + -0.9140899181365967, + -0.006508852355182171, + -0.4054592251777649, + 28.443361282348633 + ], + [ + 0.014064382761716843, + -0.9997785091400146, + -0.015658047050237656, + 0.02853447198867798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2103, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_811734914", + "mask_path": "../../mask/hdr_front_02103.png" + }, + { + "file_path": "../../rgb/hdr_front_02104.png", + "transform_matrix": [ + [ + -0.39413923025131226, + -0.024269819259643555, + 0.9187303185462952, + 28.256071090698242 + ], + [ + -0.9187664985656738, + -0.014452875591814518, + -0.39453667402267456, + 28.47024917602539 + ], + [ + 0.022853629663586617, + -0.9996010065078735, + -0.01660185307264328, + 0.031409457325935364 + ], + [ + 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": "1727777065_911734819", + "mask_path": "../../mask/hdr_front_02104.png" + }, + { + "file_path": "../../rgb/hdr_front_02105.png", + "transform_matrix": [ + [ + -0.3921414315700531, + -0.028124717995524406, + 0.9194750189781189, + 28.15312385559082 + ], + [ + -0.9193820357322693, + -0.021712366491556168, + -0.39276593923568726, + 28.509830474853516 + ], + [ + 0.031010402366518974, + -0.9993686079978943, + -0.01734304428100586, + 0.04109082370996475 + ], + [ + 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": "1727777066_11735200", + "mask_path": "../../mask/hdr_front_02105.png" + }, + { + "file_path": "../../rgb/hdr_front_02106.png", + "transform_matrix": [ + [ + -0.39305180311203003, + -0.028975900262594223, + 0.919059693813324, + 28.074628829956055 + ], + [ + -0.9189848899841309, + -0.02160000242292881, + -0.3937007784843445, + 28.528745651245117 + ], + [ + 0.03125952556729317, + -0.9993467330932617, + -0.018138490617275238, + 0.045105308294296265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2106, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_111735105", + "mask_path": "../../mask/hdr_front_02106.png" + }, + { + "file_path": "../../rgb/hdr_front_02107.png", + "transform_matrix": [ + [ + -0.39165398478507996, + -0.026637159287929535, + 0.9197269678115845, + 27.982524871826172 + ], + [ + -0.9198092818260193, + -0.01432710699737072, + -0.39210402965545654, + 28.54347801208496 + ], + [ + 0.023621564731001854, + -0.9995425939559937, + -0.018889838829636574, + 0.0445256382226944 + ], + [ + 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": "1727777066_211735248", + "mask_path": "../../mask/hdr_front_02107.png" + }, + { + "file_path": "../../rgb/hdr_front_02108.png", + "transform_matrix": [ + [ + -0.3851354420185089, + -0.018496308475732803, + 0.9226747155189514, + 27.871761322021484 + ], + [ + -0.9227892160415649, + -0.004679501987993717, + -0.38527703285217285, + 28.568025588989258 + ], + [ + 0.011443860828876495, + -0.999817967414856, + -0.015265950933098793, + 0.047398872673511505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2108, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_311734676", + "mask_path": "../../mask/hdr_front_02108.png" + }, + { + "file_path": "../../rgb/hdr_front_02109.png", + "transform_matrix": [ + [ + -0.37388843297958374, + -0.019575875252485275, + 0.9272670745849609, + 27.786256790161133 + ], + [ + -0.9274008870124817, + -0.004632909316569567, + -0.37404024600982666, + 28.578773498535156 + ], + [ + 0.011618111282587051, + -0.9997977018356323, + -0.016422491520643234, + 0.046612635254859924 + ], + [ + 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": "1727777066_411734580", + "mask_path": "../../mask/hdr_front_02109.png" + }, + { + "file_path": "../../rgb/hdr_front_02110.png", + "transform_matrix": [ + [ + -0.3701596260070801, + -0.024634258821606636, + 0.9286414980888367, + 27.7036075592041 + ], + [ + -0.9287887811660767, + -0.009828435257077217, + -0.3704790771007538, + 28.592866897583008 + ], + [ + 0.018253568559885025, + -0.9996482729911804, + -0.019241930916905403, + 0.04629135876893997 + ], + [ + 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": "1727777066_511734485", + "mask_path": "../../mask/hdr_front_02110.png" + }, + { + "file_path": "../../rgb/hdr_front_02111.png", + "transform_matrix": [ + [ + -0.37807154655456543, + -0.029312992468476295, + 0.9253122210502625, + 27.604446411132812 + ], + [ + -0.9254053235054016, + -0.01632959581911564, + -0.37862688302993774, + 28.619049072265625 + ], + [ + 0.02620866522192955, + -0.9994369149208069, + -0.02095264568924904, + 0.055799685418605804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2111, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_611734151", + "mask_path": "../../mask/hdr_front_02111.png" + }, + { + "file_path": "../../rgb/hdr_front_02112.png", + "transform_matrix": [ + [ + -0.3915710747241974, + -0.03163331001996994, + 0.9196040034294128, + 27.520023345947266 + ], + [ + -0.9196910262107849, + -0.018035179004073143, + -0.3922285735607147, + 28.641740798950195 + ], + [ + 0.028992708772420883, + -0.999336838722229, + -0.022030817344784737, + 0.06505508720874786 + ], + [ + 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": "1727777066_711734294", + "mask_path": "../../mask/hdr_front_02112.png" + }, + { + "file_path": "../../rgb/hdr_front_02113.png", + "transform_matrix": [ + [ + -0.4034414291381836, + -0.031376514583826065, + 0.9144673943519592, + 27.439701080322266 + ], + [ + -0.9147388935089111, + -0.010291501879692078, + -0.40391433238983154, + 28.66179847717285 + ], + [ + 0.022084668278694153, + -0.9994547367095947, + -0.02454930543899536, + 0.06390397250652313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2113, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_811734676", + "mask_path": "../../mask/hdr_front_02113.png" + }, + { + "file_path": "../../rgb/hdr_front_02114.png", + "transform_matrix": [ + [ + -0.40870794653892517, + -0.0257413312792778, + 0.9123021960258484, + 27.323781967163086 + ], + [ + -0.9126123189926147, + 0.0007650148472748697, + -0.4088253080844879, + 28.69203758239746 + ], + [ + 0.009825781919062138, + -0.9996683597564697, + -0.023804524913430214, + 0.06449006497859955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2114, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_911735773", + "mask_path": "../../mask/hdr_front_02114.png" + }, + { + "file_path": "../../rgb/hdr_front_02115.png", + "transform_matrix": [ + [ + -0.40410271286964417, + -0.02026655152440071, + 0.9144891500473022, + 27.223648071289062 + ], + [ + -0.9147022366523743, + 0.003979344852268696, + -0.40410876274108887, + 28.711198806762695 + ], + [ + 0.00455082394182682, + -0.9997866749763489, + -0.020145926624536514, + 0.06360683590173721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2115, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_11734962", + "mask_path": "../../mask/hdr_front_02115.png" + }, + { + "file_path": "../../rgb/hdr_front_02116.png", + "transform_matrix": [ + [ + -0.40230700373649597, + -0.022307172417640686, + 0.9152330160140991, + 27.147891998291016 + ], + [ + -0.9154850840568542, + 0.0032472042366862297, + -0.4023386836051941, + 28.725831985473633 + ], + [ + 0.006003090646117926, + -0.9997459053993225, + -0.021728258579969406, + 0.0584687814116478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2116, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_111733913", + "mask_path": "../../mask/hdr_front_02116.png" + }, + { + "file_path": "../../rgb/hdr_front_02117.png", + "transform_matrix": [ + [ + -0.40774014592170715, + -0.028754131868481636, + 0.9126452207565308, + 27.048818588256836 + ], + [ + -0.9129714369773865, + -0.0038048059213906527, + -0.4080057740211487, + 28.75697135925293 + ], + [ + 0.015204290859401226, + -0.9995793700218201, + -0.024700332432985306, + 0.06535239517688751 + ], + [ + 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": "1727777067_211735963", + "mask_path": "../../mask/hdr_front_02117.png" + }, + { + "file_path": "../../rgb/hdr_front_02118.png", + "transform_matrix": [ + [ + -0.4193836748600006, + -0.032922666519880295, + 0.9072118401527405, + 26.956327438354492 + ], + [ + -0.9075631499290466, + -0.008060002699494362, + -0.41983845829963684, + 28.79022216796875 + ], + [ + 0.021134331822395325, + -0.99942547082901, + -0.02649916335940361, + 0.08069087564945221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2118, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_311734676", + "mask_path": "../../mask/hdr_front_02118.png" + }, + { + "file_path": "../../rgb/hdr_front_02119.png", + "transform_matrix": [ + [ + -0.42931950092315674, + -0.03596727177500725, + 0.9024362564086914, + 26.888477325439453 + ], + [ + -0.9029516577720642, + -0.0039845481514930725, + -0.4297235608100891, + 28.810853958129883 + ], + [ + 0.01905178464949131, + -0.9993451237678528, + -0.030766062438488007, + 0.08732610940933228 + ], + [ + 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": "1727777067_411734580", + "mask_path": "../../mask/hdr_front_02119.png" + }, + { + "file_path": "../../rgb/hdr_front_02120.png", + "transform_matrix": [ + [ + -0.433181494474411, + -0.03055616095662117, + 0.9007885456085205, + 26.797382354736328 + ], + [ + -0.9012631773948669, + 0.004856954328715801, + -0.4332449436187744, + 28.836931228637695 + ], + [ + 0.008863216266036034, + -0.9995213150978088, + -0.029643086716532707, + 0.08863040059804916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2120, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_511734247", + "mask_path": "../../mask/hdr_front_02120.png" + }, + { + "file_path": "../../rgb/hdr_front_02121.png", + "transform_matrix": [ + [ + -0.43012428283691406, + -0.016372447833418846, + 0.902621328830719, + 26.69767951965332 + ], + [ + -0.9027635455131531, + 0.011467072181403637, + -0.4299841523170471, + 28.860549926757812 + ], + [ + -0.003310529049485922, + -0.9998002052307129, + -0.019712714478373528, + 0.08537393063306808 + ], + [ + 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": "1727777067_611733675", + "mask_path": "../../mask/hdr_front_02121.png" + }, + { + "file_path": "../../rgb/hdr_front_02122.png", + "transform_matrix": [ + [ + -0.4273415505886078, + -0.014815486036241055, + 0.9039688110351562, + 26.627622604370117 + ], + [ + -0.9040787816047668, + 0.012036950327455997, + -0.42719629406929016, + 28.875625610351562 + ], + [ + -0.004551903810352087, + -0.9998177886009216, + -0.018538257107138634, + 0.08120208978652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2122, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_711735010", + "mask_path": "../../mask/hdr_front_02122.png" + }, + { + "file_path": "../../rgb/hdr_front_02123.png", + "transform_matrix": [ + [ + -0.4319213926792145, + -0.019804850220680237, + 0.9016938209533691, + 26.54623794555664 + ], + [ + -0.9018918871879578, + 0.002934863790869713, + -0.4319518208503723, + 28.905107498168945 + ], + [ + 0.005908392835408449, + -0.9997996091842651, + -0.019129464402794838, + 0.08089639246463776 + ], + [ + 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": "1727777067_811734914", + "mask_path": "../../mask/hdr_front_02123.png" + }, + { + "file_path": "../../rgb/hdr_front_02124.png", + "transform_matrix": [ + [ + -0.4429203271865845, + -0.02400270476937294, + 0.8962396383285522, + 26.452714920043945 + ], + [ + -0.8963837623596191, + -0.008022292517125607, + -0.4432063698768616, + 28.946727752685547 + ], + [ + 0.01782805100083351, + -0.9996797442436218, + -0.017962398007512093, + 0.08772356808185577 + ], + [ + 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": "1727777067_911734342", + "mask_path": "../../mask/hdr_front_02124.png" + }, + { + "file_path": "../../rgb/hdr_front_02125.png", + "transform_matrix": [ + [ + -0.45495736598968506, + -0.025515109300613403, + 0.8901476263999939, + 26.37737464904785 + ], + [ + -0.8902831673622131, + -0.009689484722912312, + -0.455304354429245, + 28.975696563720703 + ], + [ + 0.02024220861494541, + -0.9996275305747986, + -0.01830737106502056, + 0.0962224081158638 + ], + [ + 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": "1727777068_11735439", + "mask_path": "../../mask/hdr_front_02125.png" + }, + { + "file_path": "../../rgb/hdr_front_02126.png", + "transform_matrix": [ + [ + -0.46317484974861145, + -0.0212242528796196, + 0.8860127925872803, + 26.297218322753906 + ], + [ + -0.8862159252166748, + 0.0003779238904826343, + -0.4632720649242401, + 29.00420570373535 + ], + [ + 0.00949775893241167, + -0.9997746348381042, + -0.018984319642186165, + 0.09730325639247894 + ], + [ + 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": "1727777068_111735343", + "mask_path": "../../mask/hdr_front_02126.png" + }, + { + "file_path": "../../rgb/hdr_front_02127.png", + "transform_matrix": [ + [ + -0.4639798402786255, + -0.01086465921252966, + 0.8857791423797607, + 26.188234329223633 + ], + [ + -0.8858286738395691, + 0.011901897378265858, + -0.4638598561286926, + 29.042156219482422 + ], + [ + -0.005502772051841021, + -0.9998701810836792, + -0.015146465040743351, + 0.09761426597833633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2127, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_211735010", + "mask_path": "../../mask/hdr_front_02127.png" + }, + { + "file_path": "../../rgb/hdr_front_02128.png", + "transform_matrix": [ + [ + -0.4581121504306793, + -0.01060169842094183, + 0.8888311386108398, + 26.103666305541992 + ], + [ + -0.888858437538147, + 0.014462021179497242, + -0.4579537510871887, + 29.06485366821289 + ], + [ + -0.007999206893146038, + -0.999839186668396, + -0.01604863628745079, + 0.09350739419460297 + ], + [ + 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": "1727777068_311734676", + "mask_path": "../../mask/hdr_front_02128.png" + }, + { + "file_path": "../../rgb/hdr_front_02129.png", + "transform_matrix": [ + [ + -0.4567655324935913, + -0.015523513779044151, + 0.8894516229629517, + 26.029756546020508 + ], + [ + -0.8895487189292908, + 0.017260653898119926, + -0.4565141499042511, + 29.091943740844727 + ], + [ + -0.008265813812613487, + -0.9997305274009705, + -0.021692993119359016, + 0.0900922641158104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2129, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_411734580", + "mask_path": "../../mask/hdr_front_02129.png" + }, + { + "file_path": "../../rgb/hdr_front_02130.png", + "transform_matrix": [ + [ + -0.46159180998802185, + -0.024234231561422348, + 0.8867613673210144, + 25.93015480041504 + ], + [ + -0.8870906233787537, + 0.01462139468640089, + -0.46136367321014404, + 29.13697624206543 + ], + [ + -0.0017848929855972528, + -0.9995994567871094, + -0.028247078880667686, + 0.10059557110071182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2130, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_511734724", + "mask_path": "../../mask/hdr_front_02130.png" + }, + { + "file_path": "../../rgb/hdr_front_02131.png", + "transform_matrix": [ + [ + -0.4711960554122925, + -0.028179703280329704, + 0.881578266620636, + 25.84003257751465 + ], + [ + -0.8820173740386963, + 0.010024313814938068, + -0.4711103141307831, + 29.17706298828125 + ], + [ + 0.004438532050698996, + -0.9995526075363159, + -0.029578406363725662, + 0.11497405916452408 + ], + [ + 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": "1727777068_611735105", + "mask_path": "../../mask/hdr_front_02131.png" + }, + { + "file_path": "../../rgb/hdr_front_02132.png", + "transform_matrix": [ + [ + -0.4788977801799774, + -0.02914472110569477, + 0.8773868083953857, + 25.773534774780273 + ], + [ + -0.8778696656227112, + 0.014372209087014198, + -0.4786839485168457, + 29.198772430419922 + ], + [ + 0.0013411242980509996, + -0.9994719624519348, + -0.03246808052062988, + 0.11457804590463638 + ], + [ + 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": "1727777068_711735010", + "mask_path": "../../mask/hdr_front_02132.png" + }, + { + "file_path": "../../rgb/hdr_front_02133.png", + "transform_matrix": [ + [ + -0.48090308904647827, + -0.02200700156390667, + 0.8764975666999817, + 25.676057815551758 + ], + [ + -0.8767340183258057, + 0.021598152816295624, + -0.4804905354976654, + 29.2302303314209 + ], + [ + -0.008356571197509766, + -0.9995245337486267, + -0.029680904000997543, + 0.1145126223564148 + ], + [ + 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": "1727777068_811734437", + "mask_path": "../../mask/hdr_front_02133.png" + }, + { + "file_path": "../../rgb/hdr_front_02134.png", + "transform_matrix": [ + [ + -0.4758189618587494, + -0.008954478427767754, + 0.8794977068901062, + 25.58049201965332 + ], + [ + -0.8793258666992188, + 0.027074940502643585, + -0.4754503667354584, + 29.255746841430664 + ], + [ + -0.01955493353307247, + -0.9995933771133423, + -0.020756671205163002, + 0.11258760094642639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2134, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_911734580", + "mask_path": "../../mask/hdr_front_02134.png" + }, + { + "file_path": "../../rgb/hdr_front_02135.png", + "transform_matrix": [ + [ + -0.47240960597991943, + -0.008359040133655071, + 0.8813394904136658, + 25.507871627807617 + ], + [ + -0.8811144828796387, + 0.028979754075407982, + -0.4720141589641571, + 29.27367401123047 + ], + [ + -0.021595414727926254, + -0.9995450377464294, + -0.021055586636066437, + 0.10936516523361206 + ], + [ + 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": "1727777069_11734247", + "mask_path": "../../mask/hdr_front_02135.png" + }, + { + "file_path": "../../rgb/hdr_front_02136.png", + "transform_matrix": [ + [ + -0.475199818611145, + -0.014207970350980759, + 0.879763126373291, + 25.42095375061035 + ], + [ + -0.8797436952590942, + 0.02513856068253517, + -0.474783331155777, + 29.306034088134766 + ], + [ + -0.015370273031294346, + -0.9995830059051514, + -0.02444521337747574, + 0.10987338423728943 + ], + [ + 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": "1727777069_111734390", + "mask_path": "../../mask/hdr_front_02136.png" + }, + { + "file_path": "../../rgb/hdr_front_02137.png", + "transform_matrix": [ + [ + -0.4842497706413269, + -0.021881595253944397, + 0.8746561408042908, + 25.32951545715332 + ], + [ + -0.8749059438705444, + 0.019490685313940048, + -0.4839005470275879, + 29.35112953186035 + ], + [ + -0.006459130439907312, + -0.9995705485343933, + -0.028582695871591568, + 0.12173347920179367 + ], + [ + 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": "1727777069_211735248", + "mask_path": "../../mask/hdr_front_02137.png" + }, + { + "file_path": "../../rgb/hdr_front_02138.png", + "transform_matrix": [ + [ + -0.4946650564670563, + -0.024990227073431015, + 0.8687243461608887, + 25.254899978637695 + ], + [ + -0.8690803647041321, + 0.016976725310087204, + -0.49437952041625977, + 29.38103675842285 + ], + [ + -0.0023934361524879932, + -0.9995435476303101, + -0.030116310343146324, + 0.13336673378944397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2138, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_311734437", + "mask_path": "../../mask/hdr_front_02138.png" + }, + { + "file_path": "../../rgb/hdr_front_02139.png", + "transform_matrix": [ + [ + -0.501635730266571, + -0.023789182305336, + 0.8647518157958984, + 25.177087783813477 + ], + [ + -0.8650566339492798, + 0.020978353917598724, + -0.5012353658676147, + 29.41031265258789 + ], + [ + -0.00621708994731307, + -0.9994968771934509, + -0.031102480366826057, + 0.12907737493515015 + ], + [ + 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": "1727777069_411734342", + "mask_path": "../../mask/hdr_front_02139.png" + }, + { + "file_path": "../../rgb/hdr_front_02140.png", + "transform_matrix": [ + [ + -0.5022391676902771, + -0.01785324513912201, + 0.8645445108413696, + 25.07184600830078 + ], + [ + -0.8646371960639954, + 0.024926677346229553, + -0.5017781853675842, + 29.447465896606445 + ], + [ + -0.012591850012540817, + -0.9995298385620117, + -0.027955729514360428, + 0.13116000592708588 + ], + [ + 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": "1727777069_511735439", + "mask_path": "../../mask/hdr_front_02140.png" + }, + { + "file_path": "../../rgb/hdr_front_02141.png", + "transform_matrix": [ + [ + -0.4964728355407715, + -0.015716953203082085, + 0.8679099678993225, + 24.990400314331055 + ], + [ + -0.8679779171943665, + 0.022069886326789856, + -0.49611201882362366, + 29.46885108947754 + ], + [ + -0.011357303708791733, + -0.9996328949928284, + -0.024599067866802216, + 0.1306712031364441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2141, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_611734151", + "mask_path": "../../mask/hdr_front_02141.png" + }, + { + "file_path": "../../rgb/hdr_front_02142.png", + "transform_matrix": [ + [ + -0.49507784843444824, + -0.01958148181438446, + 0.8686280250549316, + 24.919397354125977 + ], + [ + -0.8688397407531738, + 0.015697414055466652, + -0.4948446452617645, + 29.495264053344727 + ], + [ + -0.003945418633520603, + -0.9996850490570068, + -0.02478460967540741, + 0.12764427065849304 + ], + [ + 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": "1727777069_711735010", + "mask_path": "../../mask/hdr_front_02142.png" + }, + { + "file_path": "../../rgb/hdr_front_02143.png", + "transform_matrix": [ + [ + -0.5015425682067871, + -0.02496369555592537, + 0.8647727966308594, + 24.82744026184082 + ], + [ + -0.8651087284088135, + 0.006983096245676279, + -0.5015358328819275, + 29.539100646972656 + ], + [ + 0.006481397897005081, + -0.9996640086174011, + -0.025098629295825958, + 0.13308313488960266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2143, + "fl_x": "552.9865796454186", + "fl_y": "552.7825133928087", + "cx": "937.367572513537", + "cy": "636.9984716795761", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_811733961", + "mask_path": "../../mask/hdr_front_02143.png" + }, + { + "file_path": "../../rgb/hdr_front_02144.png", + "transform_matrix": [ + [ + -0.5129096508026123, + -0.02647932805120945, + 0.8580341339111328, + 24.7473087310791 + ], + [ + -0.8583544492721558, + 0.001495975535362959, + -0.5130549669265747, + 29.579988479614258 + ], + [ + 0.012301752343773842, + -0.9996482729911804, + -0.023495947942137718, + 0.14567482471466064 + ], + [ + 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": "1727777069_911734342", + "mask_path": "../../mask/hdr_front_02144.png" + }, + { + "file_path": "../../rgb/hdr_left_02023.png", + "transform_matrix": [ + [ + -0.9025841951370239, + -0.014692566357553005, + -0.4302624762058258, + 34.72749710083008 + ], + [ + 0.4304172992706299, + -0.009692377410829067, + -0.9025779962539673, + 24.122339248657227 + ], + [ + 0.00909091904759407, + -0.9998451471328735, + 0.015072123147547245, + -0.21961215138435364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2023, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777056_811734199", + "mask_path": "../../mask/hdr_left_02023.png" + }, + { + "file_path": "../../rgb/hdr_left_02024.png", + "transform_matrix": [ + [ + -0.8930116891860962, + -0.017296908423304558, + -0.44970083236694336, + 34.667869567871094 + ], + [ + 0.449847012758255, + -0.00555232772603631, + -0.8930883407592773, + 24.14575958251953 + ], + [ + 0.012950780801475048, + -0.9998350143432617, + 0.01273925881832838, + -0.22130762040615082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2024, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777056_911734342", + "mask_path": "../../mask/hdr_left_02024.png" + }, + { + "file_path": "../../rgb/hdr_left_02025.png", + "transform_matrix": [ + [ + -0.8857834339141846, + -0.01593753695487976, + -0.46382495760917664, + 34.5705451965332 + ], + [ + 0.46384429931640625, + 0.002687011146917939, + -0.8859126567840576, + 24.169036865234375 + ], + [ + 0.01536556612700224, + -0.9998694658279419, + 0.005012426991015673, + -0.22176623344421387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2025, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_11734724", + "mask_path": "../../mask/hdr_left_02025.png" + }, + { + "file_path": "../../rgb/hdr_left_02026.png", + "transform_matrix": [ + [ + -0.8827720284461975, + -0.007492749020457268, + -0.4697417616844177, + 34.4701042175293 + ], + [ + 0.469670832157135, + 0.009504186920821667, + -0.8827905058860779, + 24.180313110351562 + ], + [ + 0.011079038493335247, + -0.999926745891571, + -0.004870903678238392, + -0.22073262929916382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2026, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_111735820", + "mask_path": "../../mask/hdr_left_02026.png" + }, + { + "file_path": "../../rgb/hdr_left_02027.png", + "transform_matrix": [ + [ + -0.875971794128418, + -0.006385490298271179, + -0.4823199510574341, + 34.411441802978516 + ], + [ + 0.4822552502155304, + 0.009465687908232212, + -0.8759796619415283, + 24.193187713623047 + ], + [ + 0.010159049183130264, + -0.9999348521232605, + -0.005212238524109125, + -0.22405719757080078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2027, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_211735725", + "mask_path": "../../mask/hdr_left_02027.png" + }, + { + "file_path": "../../rgb/hdr_left_02028.png", + "transform_matrix": [ + [ + -0.863865315914154, + -0.010034757666289806, + -0.503622829914093, + 34.34144973754883 + ], + [ + 0.5036038160324097, + 0.004521555732935667, + -0.8639228940010071, + 24.222736358642578 + ], + [ + 0.010946412570774555, + -0.9999394416809082, + 0.001147527596913278, + -0.22202780842781067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2028, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_311736583", + "mask_path": "../../mask/hdr_left_02028.png" + }, + { + "file_path": "../../rgb/hdr_left_02029.png", + "transform_matrix": [ + [ + -0.8483602404594421, + -0.013475645333528519, + -0.5292479395866394, + 34.25303268432617 + ], + [ + 0.5293164849281311, + -0.0018764506094157696, + -0.8484224081039429, + 24.259292602539062 + ], + [ + 0.010439927689731121, + -0.9999074935913086, + 0.008724790997803211, + -0.2125304639339447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2029, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_411734580", + "mask_path": "../../mask/hdr_left_02029.png" + }, + { + "file_path": "../../rgb/hdr_left_02030.png", + "transform_matrix": [ + [ + -0.8320067524909973, + -0.014458930119872093, + -0.5545769333839417, + 34.1849250793457 + ], + [ + 0.5546820163726807, + -0.004352168645709753, + -0.8320510387420654, + 24.285694122314453 + ], + [ + 0.009616954252123833, + -0.9998859763145447, + 0.011641141958534718, + -0.20508500933647156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2030, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_511734724", + "mask_path": "../../mask/hdr_left_02030.png" + }, + { + "file_path": "../../rgb/hdr_left_02031.png", + "transform_matrix": [ + [ + -0.8173617124557495, + -0.015956582501530647, + -0.5759037137031555, + 34.12044143676758 + ], + [ + 0.5759394764900208, + 0.002715783892199397, + -0.8174878358840942, + 24.314109802246094 + ], + [ + 0.014608338475227356, + -0.9998690485954285, + 0.0069702500477433205, + -0.20702186226844788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2031, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_611734628", + "mask_path": "../../mask/hdr_left_02031.png" + }, + { + "file_path": "../../rgb/hdr_left_02032.png", + "transform_matrix": [ + [ + -0.8081711530685425, + -0.012652317062020302, + -0.5888117551803589, + 34.02030563354492 + ], + [ + 0.5887423157691956, + 0.009046767838299274, + -0.8082702159881592, + 24.35128402709961 + ], + [ + 0.015553331933915615, + -0.9998791217803955, + 0.00013761880109086633, + -0.2083117812871933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2032, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_711736202", + "mask_path": "../../mask/hdr_left_02032.png" + }, + { + "file_path": "../../rgb/hdr_left_02033.png", + "transform_matrix": [ + [ + -0.8062194585800171, + -0.007032398134469986, + -0.5915747284889221, + 33.9339485168457 + ], + [ + 0.5915083289146423, + 0.009541603736579418, + -0.8062424063682556, + 24.381380081176758 + ], + [ + 0.011314388364553452, + -0.9999297857284546, + -0.0035329023376107216, + -0.20739591121673584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2033, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_811736106", + "mask_path": "../../mask/hdr_left_02033.png" + }, + { + "file_path": "../../rgb/hdr_left_02034.png", + "transform_matrix": [ + [ + -0.802108883857727, + -0.009152603335678577, + -0.5971075892448425, + 33.872528076171875 + ], + [ + 0.5970616936683655, + 0.007416649255901575, + -0.8021610379219055, + 24.402507781982422 + ], + [ + 0.01177039835602045, + -0.999930739402771, + -0.0004842918715439737, + -0.21116980910301208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2034, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_911739349", + "mask_path": "../../mask/hdr_left_02034.png" + }, + { + "file_path": "../../rgb/hdr_left_02035.png", + "transform_matrix": [ + [ + -0.7945519685745239, + -0.014799821190536022, + -0.6070157289505005, + 33.79267883300781 + ], + [ + 0.607051432132721, + 0.0024605467915534973, + -0.7946587800979614, + 24.443538665771484 + ], + [ + 0.013254395686089993, + -0.9998874664306641, + 0.00702922185882926, + -0.20645742118358612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2035, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_11734008", + "mask_path": "../../mask/hdr_left_02035.png" + }, + { + "file_path": "../../rgb/hdr_left_02036.png", + "transform_matrix": [ + [ + -0.7829610109329224, + -0.019523950293660164, + -0.6217643022537231, + 33.712833404541016 + ], + [ + 0.621916651725769, + -0.002323505003005266, + -0.783079981803894, + 24.49248504638672 + ], + [ + 0.013844139873981476, + -0.9998067021369934, + 0.013961486518383026, + -0.19382771849632263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2036, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_111733913", + "mask_path": "../../mask/hdr_left_02036.png" + }, + { + "file_path": "../../rgb/hdr_left_02037.png", + "transform_matrix": [ + [ + -0.7704026103019714, + -0.022549942135810852, + -0.6371587514877319, + 33.6579475402832 + ], + [ + 0.6373530030250549, + -0.001924129668623209, + -0.7705695033073425, + 24.525676727294922 + ], + [ + 0.016150319948792458, + -0.9997438788414001, + 0.01585463248193264, + -0.1889806091785431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2037, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_211734056", + "mask_path": "../../mask/hdr_left_02037.png" + }, + { + "file_path": "../../rgb/hdr_left_02038.png", + "transform_matrix": [ + [ + -0.7589397430419922, + -0.022162403911352158, + -0.6507835984230042, + 33.583683013916016 + ], + [ + 0.6508877277374268, + 0.003127105999737978, + -0.7591676115989685, + 24.56572914123535 + ], + [ + 0.018860045820474625, + -0.9997496008872986, + 0.012051952071487904, + -0.19024789333343506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2038, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_311735391", + "mask_path": "../../mask/hdr_left_02038.png" + }, + { + "file_path": "../../rgb/hdr_left_02039.png", + "transform_matrix": [ + [ + -0.7525290250778198, + -0.015677085146307945, + -0.6583724021911621, + 33.49092483520508 + ], + [ + 0.6583365797996521, + 0.008075620047748089, + -0.7526803612709045, + 24.61180877685547 + ], + [ + 0.017116600647568703, + -0.9998445510864258, + 0.0042436630465090275, + -0.1859452873468399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2039, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_411733865", + "mask_path": "../../mask/hdr_left_02039.png" + }, + { + "file_path": "../../rgb/hdr_left_02040.png", + "transform_matrix": [ + [ + -0.7539807558059692, + -0.013606050051748753, + -0.6567556262016296, + 33.42216110229492 + ], + [ + 0.6566910743713379, + 0.009390587918460369, + -0.7541012167930603, + 24.64307975769043 + ], + [ + 0.0164276584982872, + -0.9998634457588196, + 0.0018546524224802852, + -0.18603768944740295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2040, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_511734008", + "mask_path": "../../mask/hdr_left_02040.png" + }, + { + "file_path": "../../rgb/hdr_left_02041.png", + "transform_matrix": [ + [ + -0.7560277581214905, + -0.017291206866502762, + -0.6543110609054565, + 33.3537483215332 + ], + [ + 0.6543329358100891, + 0.005148289259523153, + -0.7561891078948975, + 24.67436408996582 + ], + [ + 0.016444001346826553, + -0.9998372793197632, + 0.007421958260238171, + -0.18801027536392212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2041, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_611734390", + "mask_path": "../../mask/hdr_left_02041.png" + }, + { + "file_path": "../../rgb/hdr_left_02042.png", + "transform_matrix": [ + [ + -0.7535822987556458, + -0.022775959223508835, + -0.6569586992263794, + 33.26899719238281 + ], + [ + 0.6571564078330994, + -0.0016400404274463654, + -0.7537523508071899, + 24.721643447875977 + ], + [ + 0.016089994460344315, + -0.9997392892837524, + 0.016203276813030243, + -0.18191340565681458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2042, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_711734294", + "mask_path": "../../mask/hdr_left_02042.png" + }, + { + "file_path": "../../rgb/hdr_left_02043.png", + "transform_matrix": [ + [ + -0.7463704943656921, + -0.02516855113208294, + -0.6650545597076416, + 33.19386672973633 + ], + [ + 0.6653798818588257, + -0.006952002644538879, + -0.7464725375175476, + 24.76523780822754 + ], + [ + 0.014164170250296593, + -0.9996591210365295, + 0.021935418248176575, + -0.16885894536972046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2043, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_811734199", + "mask_path": "../../mask/hdr_left_02043.png" + }, + { + "file_path": "../../rgb/hdr_left_02044.png", + "transform_matrix": [ + [ + -0.7362252473831177, + -0.02868587337434292, + -0.6761283278465271, + 33.14085006713867 + ], + [ + 0.6765246987342834, + -0.00620247982442379, + -0.7363938093185425, + 24.80116844177246 + ], + [ + 0.01693042367696762, + -0.999569296836853, + 0.023973125964403152, + -0.16633522510528564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2044, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_911734104", + "mask_path": "../../mask/hdr_left_02044.png" + }, + { + "file_path": "../../rgb/hdr_left_02045.png", + "transform_matrix": [ + [ + -0.7240509390830994, + -0.02536962367594242, + -0.6892797946929932, + 33.06212615966797 + ], + [ + 0.6894949674606323, + 0.00036280337371863425, + -0.7242903709411621, + 24.859333038330078 + ], + [ + 0.0186250451952219, + -0.9996780753135681, + 0.017229540273547173, + -0.16462412476539612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2045, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_11735200", + "mask_path": "../../mask/hdr_left_02045.png" + }, + { + "file_path": "../../rgb/hdr_left_02046.png", + "transform_matrix": [ + [ + -0.71491938829422, + -0.013361192308366299, + -0.699079155921936, + 32.975730895996094 + ], + [ + 0.6990643739700317, + 0.006519792135804892, + -0.7150288820266724, + 24.914026260375977 + ], + [ + 0.014111489057540894, + -0.9998894929885864, + 0.004679208621382713, + -0.16386228799819946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2046, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_111734628", + "mask_path": "../../mask/hdr_left_02046.png" + }, + { + "file_path": "../../rgb/hdr_left_02047.png", + "transform_matrix": [ + [ + -0.7064621448516846, + -0.010725656524300575, + -0.7076694965362549, + 32.922950744628906 + ], + [ + 0.7076183557510376, + 0.008636638522148132, + -0.7065420150756836, + 24.943601608276367 + ], + [ + 0.013690010644495487, + -0.9999051690101624, + 0.001488215639255941, + -0.1669539213180542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2047, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_211734056", + "mask_path": "../../mask/hdr_left_02047.png" + }, + { + "file_path": "../../rgb/hdr_left_02048.png", + "transform_matrix": [ + [ + -0.6948738098144531, + -0.015544550493359566, + -0.718963623046875, + 32.865333557128906 + ], + [ + 0.7189849019050598, + 0.005173930432647467, + -0.6950063109397888, + 24.988719940185547 + ], + [ + 0.014523428864777088, + -0.9998658895492554, + 0.007581072859466076, + -0.167393758893013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2048, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_311735630", + "mask_path": "../../mask/hdr_left_02048.png" + }, + { + "file_path": "../../rgb/hdr_left_02049.png", + "transform_matrix": [ + [ + -0.6776236295700073, + -0.020342813804745674, + -0.7351273894309998, + 32.79121780395508 + ], + [ + 0.7352719902992249, + 0.0005342112854123116, + -0.6777717471122742, + 25.05546760559082 + ], + [ + 0.014180498197674751, + -0.9997929334640503, + 0.014595509506762028, + -0.1568835824728012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2049, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_411734819", + "mask_path": "../../mask/hdr_left_02049.png" + }, + { + "file_path": "../../rgb/hdr_left_02050.png", + "transform_matrix": [ + [ + -0.6548759937286377, + -0.020294876769185066, + -0.7554637789726257, + 32.740482330322266 + ], + [ + 0.7555987238883972, + 0.001485824235714972, + -0.6550329923629761, + 25.107770919799805 + ], + [ + 0.014416300691664219, + -0.9997930526733398, + 0.014361758716404438, + -0.14786572754383087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2050, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_511734485", + "mask_path": "../../mask/hdr_left_02050.png" + }, + { + "file_path": "../../rgb/hdr_left_02051.png", + "transform_matrix": [ + [ + -0.6307369470596313, + -0.018949931487441063, + -0.7757652997970581, + 32.69554138183594 + ], + [ + 0.7757729887962341, + 0.008603882044553757, + -0.6309534311294556, + 25.155136108398438 + ], + [ + 0.018631111830472946, + -0.999783456325531, + 0.009274059906601906, + -0.15142059326171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2051, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_611734151", + "mask_path": "../../mask/hdr_left_02051.png" + }, + { + "file_path": "../../rgb/hdr_left_02052.png", + "transform_matrix": [ + [ + -0.6096506118774414, + -0.014100760221481323, + -0.7925447821617126, + 32.62440872192383 + ], + [ + 0.7924416661262512, + 0.013170451857149601, + -0.6098055243492126, + 25.221515655517578 + ], + [ + 0.01903689093887806, + -0.9998138546943665, + 0.0031446556095033884, + -0.1492626667022705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2052, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_711735248", + "mask_path": "../../mask/hdr_left_02052.png" + }, + { + "file_path": "../../rgb/hdr_left_02053.png", + "transform_matrix": [ + [ + -0.5941451191902161, + -0.007809745613485575, + -0.8043199181556702, + 32.55186462402344 + ], + [ + 0.8041432499885559, + 0.017326897010207176, + -0.5941828489303589, + 25.279884338378906 + ], + [ + 0.01857678033411503, + -0.9998194575309753, + -0.004014532547444105, + -0.14255765080451965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2053, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_811737298", + "mask_path": "../../mask/hdr_left_02053.png" + }, + { + "file_path": "../../rgb/hdr_left_02054.png", + "transform_matrix": [ + [ + -0.5743224024772644, + -0.008844605647027493, + -0.8185814023017883, + 32.50364303588867 + ], + [ + 0.8183349370956421, + 0.02059856615960598, + -0.5743721723556519, + 25.319683074951172 + ], + [ + 0.021941693499684334, + -0.999748706817627, + -0.004592365585267544, + -0.14440807700157166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2054, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_911735296", + "mask_path": "../../mask/hdr_left_02054.png" + }, + { + "file_path": "../../rgb/hdr_left_02055.png", + "transform_matrix": [ + [ + -0.5488860011100769, + -0.015153403393924236, + -0.8357598185539246, + 32.44683074951172 + ], + [ + 0.8355360627174377, + 0.019436057657003403, + -0.549091637134552, + 25.38800048828125 + ], + [ + 0.024564484134316444, + -0.9996963143348694, + 0.00199303706176579, + -0.13849590718746185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2055, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_11735677", + "mask_path": "../../mask/hdr_left_02055.png" + }, + { + "file_path": "../../rgb/hdr_left_02056.png", + "transform_matrix": [ + [ + -0.5173538327217102, + -0.022238148376345634, + -0.8554825186729431, + 32.387786865234375 + ], + [ + 0.85539311170578, + 0.01628914847970009, + -0.5177231431007385, + 25.46433448791504 + ], + [ + 0.025448285043239594, + -0.9996200799942017, + 0.010595109313726425, + -0.1278032660484314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2056, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_111735582", + "mask_path": "../../mask/hdr_left_02056.png" + }, + { + "file_path": "../../rgb/hdr_left_02057.png", + "transform_matrix": [ + [ + -0.48518961668014526, + -0.025525301694869995, + -0.8740363121032715, + 32.35026168823242 + ], + [ + 0.874000608921051, + 0.016387131065130234, + -0.4856484830379486, + 25.510360717773438 + ], + [ + 0.026719264686107635, + -0.9995399117469788, + 0.01435826625674963, + -0.12216314673423767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2057, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_211735010", + "mask_path": "../../mask/hdr_left_02057.png" + }, + { + "file_path": "../../rgb/hdr_left_02058.png", + "transform_matrix": [ + [ + -0.45586398243904114, + -0.021153492853045464, + -0.8897980451583862, + 32.30463790893555 + ], + [ + 0.8896238803863525, + 0.020080845803022385, + -0.45625215768814087, + 25.558523178100586 + ], + [ + 0.027519220486283302, + -0.999574601650238, + 0.009664521552622318, + -0.1253492534160614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2058, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_311734437", + "mask_path": "../../mask/hdr_left_02058.png" + }, + { + "file_path": "../../rgb/hdr_left_02059.png", + "transform_matrix": [ + [ + -0.4371647834777832, + -0.013335304334759712, + -0.8992825746536255, + 32.23564147949219 + ], + [ + 0.8990513682365417, + 0.020604180172085762, + -0.43735790252685547, + 25.62472152709961 + ], + [ + 0.024361278861761093, + -0.99969881772995, + 0.0029817060567438602, + -0.1195291206240654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2059, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_411734580", + "mask_path": "../../mask/hdr_left_02059.png" + }, + { + "file_path": "../../rgb/hdr_left_02060.png", + "transform_matrix": [ + [ + -0.43603718280792236, + -0.011814079247415066, + -0.8998511433601379, + 32.17341995239258 + ], + [ + 0.8996199369430542, + 0.020465873181819916, + -0.4361938536167145, + 25.678707122802734 + ], + [ + 0.023569466546177864, + -0.9997208118438721, + 0.001704300520941615, + -0.11759649962186813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2060, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_511735439", + "mask_path": "../../mask/hdr_left_02060.png" + }, + { + "file_path": "../../rgb/hdr_left_02061.png", + "transform_matrix": [ + [ + -0.4372071325778961, + -0.01604427397251129, + -0.8992176651954651, + 32.12504959106445 + ], + [ + 0.8990547060966492, + 0.018284616991877556, + -0.43745413422584534, + 25.72640609741211 + ], + [ + 0.02346048131585121, + -0.999704122543335, + 0.006430517882108688, + -0.1242644414305687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2061, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_611734390", + "mask_path": "../../mask/hdr_left_02061.png" + }, + { + "file_path": "../../rgb/hdr_left_02062.png", + "transform_matrix": [ + [ + -0.4341678023338318, + -0.024496138095855713, + -0.9004989266395569, + 32.065025329589844 + ], + [ + 0.9005625247955322, + 0.012647927738726139, + -0.4345425069332123, + 25.786121368408203 + ], + [ + 0.02203405648469925, + -0.9996199011802673, + 0.016568981111049652, + -0.12043225020170212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2062, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_711734533", + "mask_path": "../../mask/hdr_left_02062.png" + }, + { + "file_path": "../../rgb/hdr_left_02063.png", + "transform_matrix": [ + [ + -0.4256231188774109, + -0.029614482074975967, + -0.9044157862663269, + 32.014522552490234 + ], + [ + 0.9046949148178101, + 0.007378991227596998, + -0.42599618434906006, + 25.848899841308594 + ], + [ + 0.019289329648017883, + -0.9995341897010803, + 0.023651400581002235, + -0.10573617368936539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2063, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_811734199", + "mask_path": "../../mask/hdr_left_02063.png" + }, + { + "file_path": "../../rgb/hdr_left_02064.png", + "transform_matrix": [ + [ + -0.41724249720573425, + -0.032811302691698074, + -0.9082027077674866, + 31.974946975708008 + ], + [ + 0.9085622429847717, + 0.007561614271253347, + -0.41768091917037964, + 25.901193618774414 + ], + [ + 0.020572133362293243, + -0.9994329810142517, + 0.02665608935058117, + -0.09973551332950592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2064, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_911734580", + "mask_path": "../../mask/hdr_left_02064.png" + }, + { + "file_path": "../../rgb/hdr_left_02065.png", + "transform_matrix": [ + [ + -0.41257044672966003, + -0.028568726032972336, + -0.9104776382446289, + 31.919754028320312 + ], + [ + 0.9107087850570679, + 0.008873995393514633, + -0.41295361518859863, + 25.96854019165039 + ], + [ + 0.019877132028341293, + -0.9995524287223816, + 0.02235664241015911, + -0.10125715285539627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2065, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_11734485", + "mask_path": "../../mask/hdr_left_02065.png" + }, + { + "file_path": "../../rgb/hdr_left_02066.png", + "transform_matrix": [ + [ + -0.4153274595737457, + -0.015938984230160713, + -0.909532368183136, + 31.849695205688477 + ], + [ + 0.909557580947876, + 0.008580215275287628, + -0.4154893457889557, + 26.0443172454834 + ], + [ + 0.014426459558308125, + -0.9998362064361572, + 0.010933825746178627, + -0.10263853520154953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2066, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_111734390", + "mask_path": "../../mask/hdr_left_02066.png" + }, + { + "file_path": "../../rgb/hdr_left_02067.png", + "transform_matrix": [ + [ + -0.4207863211631775, + -0.012431681156158447, + -0.9070746302604675, + 31.795486450195312 + ], + [ + 0.9070351123809814, + 0.010813333094120026, + -0.42091619968414307, + 26.096607208251953 + ], + [ + 0.015041195787489414, + -0.9998643398284912, + 0.0067258719354867935, + -0.10641647130250931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2067, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_211734294", + "mask_path": "../../mask/hdr_left_02067.png" + }, + { + "file_path": "../../rgb/hdr_left_02068.png", + "transform_matrix": [ + [ + -0.4205312430858612, + -0.018563387915492058, + -0.9070881009101868, + 31.745468139648438 + ], + [ + 0.9070932865142822, + 0.011569071561098099, + -0.4207704961299896, + 26.15087127685547 + ], + [ + 0.018305089324712753, + -0.9997608661651611, + 0.01197357103228569, + -0.11016888916492462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2068, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_311735153", + "mask_path": "../../mask/hdr_left_02068.png" + }, + { + "file_path": "../../rgb/hdr_left_02069.png", + "transform_matrix": [ + [ + -0.41291770339012146, + -0.026968033984303474, + -0.9103689789772034, + 31.683744430541992 + ], + [ + 0.9105188250541687, + 0.011174262501299381, + -0.41331666707992554, + 26.227859497070312 + ], + [ + 0.021319039165973663, + -0.999573826789856, + 0.019940851256251335, + -0.10104580223560333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2069, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_411734580", + "mask_path": "../../mask/hdr_left_02069.png" + }, + { + "file_path": "../../rgb/hdr_left_02070.png", + "transform_matrix": [ + [ + -0.3995819389820099, + -0.030718166381120682, + -0.9161826968193054, + 31.63638687133789 + ], + [ + 0.9164692759513855, + 0.00891164317727089, + -0.4000057876110077, + 26.30042839050293 + ], + [ + 0.02045213244855404, + -0.9994884133338928, + 0.024591324850916862, + -0.0848013386130333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2070, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_511734962", + "mask_path": "../../mask/hdr_left_02070.png" + }, + { + "file_path": "../../rgb/hdr_left_02071.png", + "transform_matrix": [ + [ + -0.3883835971355438, + -0.028309138491749763, + -0.9210628271102905, + 31.595726013183594 + ], + [ + 0.9211990833282471, + 0.013521500863134861, + -0.38885653018951416, + 26.351720809936523 + ], + [ + 0.023462340235710144, + -0.9995077848434448, + 0.020826825872063637, + -0.08636888861656189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2071, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_611733675", + "mask_path": "../../mask/hdr_left_02071.png" + }, + { + "file_path": "../../rgb/hdr_left_02072.png", + "transform_matrix": [ + [ + -0.38330087065696716, + -0.019976021721959114, + -0.9234075546264648, + 31.532556533813477 + ], + [ + 0.9233061075210571, + 0.017922569066286087, + -0.38364654779434204, + 26.424829483032227 + ], + [ + 0.02421356365084648, + -0.9996398687362671, + 0.011574247851967812, + -0.08625996857881546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2072, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_711735010", + "mask_path": "../../mask/hdr_left_02072.png" + }, + { + "file_path": "../../rgb/hdr_left_02073.png", + "transform_matrix": [ + [ + -0.3824789524078369, + -0.00945548340678215, + -0.9239158034324646, + 31.459667205810547 + ], + [ + 0.923777163028717, + 0.01620105467736721, + -0.3825874626636505, + 26.494295120239258 + ], + [ + 0.01858595758676529, + -0.999824047088623, + 0.0025381979066878557, + -0.08395090699195862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2073, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_811735630", + "mask_path": "../../mask/hdr_left_02073.png" + }, + { + "file_path": "../../rgb/hdr_left_02074.png", + "transform_matrix": [ + [ + -0.3722323477268219, + -0.00862997118383646, + -0.9280993938446045, + 31.411550521850586 + ], + [ + 0.9279993772506714, + 0.01391922403126955, + -0.3723217248916626, + 26.548004150390625 + ], + [ + 0.016131548210978508, + -0.9998659491539001, + 0.00282742315903306, + -0.08692639321088791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2074, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_911734342", + "mask_path": "../../mask/hdr_left_02074.png" + }, + { + "file_path": "../../rgb/hdr_left_02075.png", + "transform_matrix": [ + [ + -0.34996601939201355, + -0.016191083937883377, + -0.9366223812103271, + 31.368837356567383 + ], + [ + 0.9366577863693237, + 0.008889342658221722, + -0.3501329720020294, + 26.61077880859375 + ], + [ + 0.013994986191391945, + -0.9998294115066528, + 0.01205453835427761, + -0.08445951342582703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2075, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_11734724", + "mask_path": "../../mask/hdr_left_02075.png" + }, + { + "file_path": "../../rgb/hdr_left_02076.png", + "transform_matrix": [ + [ + -0.32035863399505615, + -0.022470779716968536, + -0.9470297694206238, + 31.320484161376953 + ], + [ + 0.9472193717956543, + 0.005141199100762606, + -0.3205448091030121, + 26.689620971679688 + ], + [ + 0.0120717603713274, + -0.9997343420982361, + 0.019637731835246086, + -0.07693265378475189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2076, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_111734628", + "mask_path": "../../mask/hdr_left_02076.png" + }, + { + "file_path": "../../rgb/hdr_left_02077.png", + "transform_matrix": [ + [ + -0.2903195917606354, + -0.023419959470629692, + -0.9566430449485779, + 31.287038803100586 + ], + [ + 0.9568400382995605, + 0.006582599598914385, + -0.29054054617881775, + 26.75404167175293 + ], + [ + 0.013101644814014435, + -0.999704122543335, + 0.02049809880554676, + -0.0696699395775795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2077, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_211733579", + "mask_path": "../../mask/hdr_left_02077.png" + }, + { + "file_path": "../../rgb/hdr_left_02078.png", + "transform_matrix": [ + [ + -0.264312744140625, + -0.021677853539586067, + -0.9641933441162109, + 31.250959396362305 + ], + [ + 0.9642872214317322, + 0.011680221185088158, + -0.26460111141204834, + 26.818857192993164 + ], + [ + 0.016997970640659332, + -0.9996969103813171, + 0.01781644858419895, + -0.06729317456483841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2078, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_311733007", + "mask_path": "../../mask/hdr_left_02078.png" + }, + { + "file_path": "../../rgb/hdr_left_02079.png", + "transform_matrix": [ + [ + -0.2524532675743103, + -0.0168104637414217, + -0.9674630761146545, + 31.191484451293945 + ], + [ + 0.9674361348152161, + 0.01451655849814415, + -0.25269851088523865, + 26.909225463867188 + ], + [ + 0.01829220913350582, + -0.9997532963752747, + 0.012598298490047455, + -0.06459932774305344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2079, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_411734342", + "mask_path": "../../mask/hdr_left_02079.png" + }, + { + "file_path": "../../rgb/hdr_left_02080.png", + "transform_matrix": [ + [ + -0.2614489793777466, + -0.015106801874935627, + -0.9650989770889282, + 31.13257598876953 + ], + [ + 0.9650726914405823, + 0.013212430290877819, + -0.26164868474006653, + 26.98312759399414 + ], + [ + 0.016703980043530464, + -0.9997986555099487, + 0.011124789714813232, + -0.06615903973579407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2080, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_511734008", + "mask_path": "../../mask/hdr_left_02080.png" + }, + { + "file_path": "../../rgb/hdr_left_02081.png", + "transform_matrix": [ + [ + -0.2724857032299042, + -0.019116321578621864, + -0.9619699120521545, + 31.083702087402344 + ], + [ + 0.9619891047477722, + 0.013417613692581654, + -0.27275779843330383, + 27.0451602935791 + ], + [ + 0.018121464177966118, + -0.9997272491455078, + 0.014733588322997093, + -0.07187795639038086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2081, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_611736059", + "mask_path": "../../mask/hdr_left_02081.png" + }, + { + "file_path": "../../rgb/hdr_left_02082.png", + "transform_matrix": [ + [ + -0.2841852903366089, + -0.028982067480683327, + -0.958331286907196, + 31.0274658203125 + ], + [ + 0.9585591554641724, + 0.012341021560132504, + -0.28462618589401245, + 27.12783432006836 + ], + [ + 0.020075839012861252, + -0.9995037913322449, + 0.024273889139294624, + -0.06757476180791855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2082, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_711735010", + "mask_path": "../../mask/hdr_left_02082.png" + }, + { + "file_path": "../../rgb/hdr_left_02083.png", + "transform_matrix": [ + [ + -0.2968733012676239, + -0.03522985428571701, + -0.9542667865753174, + 30.975160598754883 + ], + [ + 0.9547125697135925, + 0.009715169668197632, + -0.29737067222595215, + 27.211708068847656 + ], + [ + 0.019747184589505196, + -0.9993320107460022, + 0.0307502131909132, + -0.05108140408992767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2083, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_811735630", + "mask_path": "../../mask/hdr_left_02083.png" + }, + { + "file_path": "../../rgb/hdr_left_02084.png", + "transform_matrix": [ + [ + -0.3148920238018036, + -0.03746739774942398, + -0.9483876824378967, + 30.927446365356445 + ], + [ + 0.9488692283630371, + 0.010878791101276875, + -0.3154817223548889, + 27.266990661621094 + ], + [ + 0.022137586027383804, + -0.9992386698722839, + 0.03212601691484451, + -0.04986502230167389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2084, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_911734104", + "mask_path": "../../mask/hdr_left_02084.png" + }, + { + "file_path": "../../rgb/hdr_left_02085.png", + "transform_matrix": [ + [ + -0.3386986255645752, + -0.035217899829149246, + -0.9402355551719666, + 30.864282608032227 + ], + [ + 0.9406574368476868, + 0.009775464423000813, + -0.3392167389392853, + 27.33806800842285 + ], + [ + 0.021137738600373268, + -0.9993318319320679, + 0.029817046597599983, + -0.05457576364278793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2085, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_11734008", + "mask_path": "../../mask/hdr_left_02085.png" + }, + { + "file_path": "../../rgb/hdr_left_02086.png", + "transform_matrix": [ + [ + -0.370341032743454, + -0.028362484648823738, + -0.9284627437591553, + 30.785411834716797 + ], + [ + 0.9288127422332764, + 0.0020652085077017546, + -0.37054380774497986, + 27.416595458984375 + ], + [ + 0.012427008710801601, + -0.999595582485199, + 0.025578605011105537, + -0.053414568305015564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2086, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_111734151", + "mask_path": "../../mask/hdr_left_02086.png" + }, + { + "file_path": "../../rgb/hdr_left_02087.png", + "transform_matrix": [ + [ + -0.40538087487220764, + -0.029366137459874153, + -0.9136760234832764, + 30.716707229614258 + ], + [ + 0.9140871167182922, + -0.0015047112246975303, + -0.4055149555206299, + 27.46845817565918 + ], + [ + 0.010533588007092476, + -0.9995675683021545, + 0.027453191578388214, + -0.051420703530311584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2087, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_211734294", + "mask_path": "../../mask/hdr_left_02087.png" + }, + { + "file_path": "../../rgb/hdr_left_02088.png", + "transform_matrix": [ + [ + -0.4350259304046631, + -0.04032624512910843, + -0.8995144963264465, + 30.652578353881836 + ], + [ + 0.9003589749336243, + -0.008050586096942425, + -0.4350733757019043, + 27.522619247436523 + ], + [ + 0.010303257964551449, + -0.9991541504859924, + 0.039810314774513245, + -0.0539514422416687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2088, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_311734199", + "mask_path": "../../mask/hdr_left_02088.png" + }, + { + "file_path": "../../rgb/hdr_left_02089.png", + "transform_matrix": [ + [ + -0.454977810382843, + -0.05365645885467529, + -0.8888847827911377, + 30.577449798583984 + ], + [ + 0.8904358148574829, + -0.015174809843301773, + -0.4548557698726654, + 27.597415924072266 + ], + [ + 0.01091728825122118, + -0.998444139957428, + 0.05468183383345604, + -0.045377813279628754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2089, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_411733865", + "mask_path": "../../mask/hdr_left_02089.png" + }, + { + "file_path": "../../rgb/hdr_left_02090.png", + "transform_matrix": [ + [ + -0.4690459370613098, + -0.06132190674543381, + -0.8810423016548157, + 30.50889778137207 + ], + [ + 0.8830854296684265, + -0.018460486084222794, + -0.4688487946987152, + 27.659439086914062 + ], + [ + 0.012486234307289124, + -0.9979473352432251, + 0.06281130760908127, + -0.03132177144289017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2090, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_511733770", + "mask_path": "../../mask/hdr_left_02090.png" + }, + { + "file_path": "../../rgb/hdr_left_02091.png", + "transform_matrix": [ + [ + -0.4872353971004486, + -0.06602227687835693, + -0.8707712888717651, + 30.44195556640625 + ], + [ + 0.8730669617652893, + -0.0152946338057518, + -0.48736023902893066, + 27.704227447509766 + ], + [ + 0.01885850541293621, + -0.9977009296417236, + 0.06509395688772202, + -0.03071209043264389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2091, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_611733675", + "mask_path": "../../mask/hdr_left_02091.png" + }, + { + "file_path": "../../rgb/hdr_left_02092.png", + "transform_matrix": [ + [ + -0.5135787725448608, + -0.059697896242141724, + -0.8559631705284119, + 30.343265533447266 + ], + [ + 0.8577817678451538, + -0.011134558357298374, + -0.5138934254646301, + 27.773929595947266 + ], + [ + 0.021147578954696655, + -0.9981544613838196, + 0.056926243007183075, + -0.0294952392578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2092, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_711733102", + "mask_path": "../../mask/hdr_left_02092.png" + }, + { + "file_path": "../../rgb/hdr_left_02093.png", + "transform_matrix": [ + [ + -0.5469949841499329, + -0.04769623279571533, + -0.8357759118080139, + 30.247915267944336 + ], + [ + 0.8369744420051575, + -0.011556414887309074, + -0.5471199750900269, + 27.827293395996094 + ], + [ + 0.01643698289990425, + -0.9987950921058655, + 0.04624183103442192, + -0.02660335600376129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2093, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_811733961", + "mask_path": "../../mask/hdr_left_02093.png" + }, + { + "file_path": "../../rgb/hdr_left_02094.png", + "transform_matrix": [ + [ + -0.5771202445030212, + -0.04989155754446983, + -0.8151337504386902, + 30.174381256103516 + ], + [ + 0.8164583444595337, + -0.013115638867020607, + -0.577255368232727, + 27.86276626586914 + ], + [ + 0.018109168857336044, + -0.9986685514450073, + 0.04830367490649223, + -0.02795739471912384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2094, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_911733865", + "mask_path": "../../mask/hdr_left_02094.png" + }, + { + "file_path": "../../rgb/hdr_left_02095.png", + "transform_matrix": [ + [ + -0.5987994074821472, + -0.054644037038087845, + -0.7990326881408691, + 30.08989143371582 + ], + [ + 0.8007217645645142, + -0.019858794286847115, + -0.5987070798873901, + 27.912809371948242 + ], + [ + 0.016847945749759674, + -0.9983084201812744, + 0.055646106600761414, + -0.024269282817840576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2095, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_11734008", + "mask_path": "../../mask/hdr_left_02095.png" + }, + { + "file_path": "../../rgb/hdr_left_02096.png", + "transform_matrix": [ + [ + -0.6135432124137878, + -0.055973660200834274, + -0.7876747250556946, + 30.00432777404785 + ], + [ + 0.7895433902740479, + -0.0262596495449543, + -0.6131327152252197, + 27.963380813598633 + ], + [ + 0.013635213486850262, + -0.9980869889259338, + 0.06030506640672684, + -0.0143960639834404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2096, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_111733913", + "mask_path": "../../mask/hdr_left_02096.png" + }, + { + "file_path": "../../rgb/hdr_left_02097.png", + "transform_matrix": [ + [ + -0.6288674473762512, + -0.05941779166460037, + -0.7752388119697571, + 29.934345245361328 + ], + [ + 0.7773219347000122, + -0.025973167270421982, + -0.628566563129425, + 27.99964714050293 + ], + [ + 0.017212623730301857, + -0.997895359992981, + 0.06252043694257736, + -0.008661210536956787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2097, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_211734294", + "mask_path": "../../mask/hdr_left_02097.png" + }, + { + "file_path": "../../rgb/hdr_left_02098.png", + "transform_matrix": [ + [ + -0.6486893892288208, + -0.0552472360432148, + -0.7590453028678894, + 29.839418411254883 + ], + [ + 0.7608290314674377, + -0.022871442139148712, + -0.6485491394996643, + 28.04620933532715 + ], + [ + 0.01847008615732193, + -0.9982107281684875, + 0.05687016621232033, + -0.010834909975528717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2098, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_311734199", + "mask_path": "../../mask/hdr_left_02098.png" + }, + { + "file_path": "../../rgb/hdr_left_02099.png", + "transform_matrix": [ + [ + -0.6739150285720825, + -0.041939835995435715, + -0.7376174330711365, + 29.730934143066406 + ], + [ + 0.7386948466300964, + -0.02071792632341385, + -0.673721432685852, + 28.095373153686523 + ], + [ + 0.012973863631486893, + -0.9989053606987, + 0.044942863285541534, + -0.010045841336250305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2099, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_411733388", + "mask_path": "../../mask/hdr_left_02099.png" + }, + { + "file_path": "../../rgb/hdr_left_02100.png", + "transform_matrix": [ + [ + -0.6997116208076477, + -0.04194730520248413, + -0.7131927609443665, + 29.650362014770508 + ], + [ + 0.7142659425735474, + -0.019992375746369362, + -0.6995885968208313, + 28.121171951293945 + ], + [ + 0.015087442472577095, + -0.9989198446273804, + 0.043950434774160385, + -0.007827408611774445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2100, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_511734962", + "mask_path": "../../mask/hdr_left_02100.png" + }, + { + "file_path": "../../rgb/hdr_left_02101.png", + "transform_matrix": [ + [ + -0.7203463912010193, + -0.04833902046084404, + -0.691927969455719, + 29.562522888183594 + ], + [ + 0.6934610605239868, + -0.02921993099153042, + -0.7199012637138367, + 28.153406143188477 + ], + [ + 0.014581235125660896, + -0.9984035491943359, + 0.054569702595472336, + -0.007007069885730743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2101, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_611735343", + "mask_path": "../../mask/hdr_left_02101.png" + }, + { + "file_path": "../../rgb/hdr_left_02102.png", + "transform_matrix": [ + [ + -0.7329336404800415, + -0.05503207445144653, + -0.678070604801178, + 29.46214485168457 + ], + [ + 0.680168867111206, + -0.03970548138022423, + -0.7319793105125427, + 28.20073127746582 + ], + [ + 0.013359220698475838, + -0.9976948499679565, + 0.06653259694576263, + 0.00039055943489074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2102, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_711735248", + "mask_path": "../../mask/hdr_left_02102.png" + }, + { + "file_path": "../../rgb/hdr_left_02103.png", + "transform_matrix": [ + [ + -0.7405461668968201, + -0.05793885886669159, + -0.6695030331611633, + 29.381507873535156 + ], + [ + 0.6718507409095764, + -0.04246218129992485, + -0.739468514919281, + 28.228561401367188 + ], + [ + 0.014415398240089417, + -0.9974167346954346, + 0.07037147879600525, + 0.009249269962310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2103, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_811734914", + "mask_path": "../../mask/hdr_left_02103.png" + }, + { + "file_path": "../../rgb/hdr_left_02104.png", + "transform_matrix": [ + [ + -0.7484591007232666, + -0.05514863133430481, + -0.660883903503418, + 29.296438217163086 + ], + [ + 0.6629648208618164, + -0.036784201860427856, + -0.7477462887763977, + 28.25193977355957 + ], + [ + 0.016927096992731094, + -0.9978004097938538, + 0.06409306824207306, + 0.009358875453472137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2104, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_911734819", + "mask_path": "../../mask/hdr_left_02104.png" + }, + { + "file_path": "../../rgb/hdr_left_02105.png", + "transform_matrix": [ + [ + -0.7587258815765381, + -0.04451119527220726, + -0.6498875617980957, + 29.181377410888672 + ], + [ + 0.6512035727500916, + -0.026712559163570404, + -0.7584327459335327, + 28.292734146118164 + ], + [ + 0.016398586332798004, + -0.9986517429351807, + 0.04925335571169853, + 0.010928109288215637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2105, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_11735439", + "mask_path": "../../mask/hdr_left_02105.png" + }, + { + "file_path": "../../rgb/hdr_left_02106.png", + "transform_matrix": [ + [ + -0.7724983096122742, + -0.0402681790292263, + -0.6337386965751648, + 29.08742332458496 + ], + [ + 0.6348024606704712, + -0.023047082126140594, + -0.772330641746521, + 28.32082748413086 + ], + [ + 0.016494523733854294, + -0.998923122882843, + 0.04336617887020111, + 0.014009170234203339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2106, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_111734628", + "mask_path": "../../mask/hdr_left_02106.png" + }, + { + "file_path": "../../rgb/hdr_left_02107.png", + "transform_matrix": [ + [ + -0.78340744972229, + -0.04094009846448898, + -0.6201584935188293, + 29.010122299194336 + ], + [ + 0.6212619543075562, + -0.023484665900468826, + -0.7832510471343994, + 28.34192657470703 + ], + [ + 0.017502153292298317, + -0.9988855719566345, + 0.043832581490278244, + 0.015341050922870636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2107, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_211734294", + "mask_path": "../../mask/hdr_left_02107.png" + }, + { + "file_path": "../../rgb/hdr_left_02108.png", + "transform_matrix": [ + [ + -0.7883568406105042, + -0.04225553572177887, + -0.6137653589248657, + 28.9138126373291 + ], + [ + 0.6150224208831787, + -0.028962822631001472, + -0.7879775166511536, + 28.37697410583496 + ], + [ + 0.01552002876996994, + -0.9986869692802429, + 0.04882114380598068, + 0.018585845828056335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2108, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_311734914", + "mask_path": "../../mask/hdr_left_02108.png" + }, + { + "file_path": "../../rgb/hdr_left_02109.png", + "transform_matrix": [ + [ + -0.7901777625083923, + -0.04235909879207611, + -0.6114121079444885, + 28.826704025268555 + ], + [ + 0.6127247214317322, + -0.03231270983815193, + -0.7896355986595154, + 28.407991409301758 + ], + [ + 0.013691862113773823, + -0.9985798597335815, + 0.05148725211620331, + 0.026899978518486023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2109, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_411734342", + "mask_path": "../../mask/hdr_left_02109.png" + }, + { + "file_path": "../../rgb/hdr_left_02110.png", + "transform_matrix": [ + [ + -0.7941885590553284, + -0.04408302158117294, + -0.6060702800750732, + 28.751708984375 + ], + [ + 0.6074199676513672, + -0.028905106708407402, + -0.7938547730445862, + 28.43327522277832 + ], + [ + 0.017476990818977356, + -0.9986096620559692, + 0.04973301291465759, + 0.02831444889307022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2110, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_511734485", + "mask_path": "../../mask/hdr_left_02110.png" + }, + { + "file_path": "../../rgb/hdr_left_02111.png", + "transform_matrix": [ + [ + -0.8020047545433044, + -0.038408663123846054, + -0.5960814356803894, + 28.64834976196289 + ], + [ + 0.5970559120178223, + -0.02201218344271183, + -0.8018974661827087, + 28.46539878845215 + ], + [ + 0.01767875626683235, + -0.9990197420120239, + 0.04058600217103958, + 0.02703232318162918 + ], + [ + 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": "1727777065_611734867", + "mask_path": "../../mask/hdr_left_02111.png" + }, + { + "file_path": "../../rgb/hdr_left_02112.png", + "transform_matrix": [ + [ + -0.8144243955612183, + -0.025809254497289658, + -0.5796952843666077, + 28.544559478759766 + ], + [ + 0.5801731944084167, + -0.01801212877035141, + -0.8142939209938049, + 28.490304946899414 + ], + [ + 0.010574772022664547, + -0.9995046854019165, + 0.029643356800079346, + 0.02658536285161972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2112, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_711735248", + "mask_path": "../../mask/hdr_left_02112.png" + }, + { + "file_path": "../../rgb/hdr_left_02113.png", + "transform_matrix": [ + [ + -0.8255730867385864, + -0.024117927998304367, + -0.5637794137001038, + 28.46571922302246 + ], + [ + 0.5642212629318237, + -0.019118724390864372, + -0.8254022002220154, + 28.505094528198242 + ], + [ + 0.009128247387707233, + -0.99952632188797, + 0.029391756281256676, + 0.024727120995521545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2113, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_811734914", + "mask_path": "../../mask/hdr_left_02113.png" + }, + { + "file_path": "../../rgb/hdr_left_02114.png", + "transform_matrix": [ + [ + -0.8322763442993164, + -0.0282187070697546, + -0.5536422729492188, + 28.36908531188965 + ], + [ + 0.5542962551116943, + -0.027108900249004364, + -0.8318777680397034, + 28.53331756591797 + ], + [ + 0.008465881459414959, + -0.9992341995239258, + 0.03820362687110901, + 0.026625968515872955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2114, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_911734819", + "mask_path": "../../mask/hdr_left_02114.png" + }, + { + "file_path": "../../rgb/hdr_left_02115.png", + "transform_matrix": [ + [ + -0.8333848118782043, + -0.03204589709639549, + -0.5517633557319641, + 28.265987396240234 + ], + [ + 0.5526392459869385, + -0.03437346592545509, + -0.8327113389968872, + 28.57309341430664 + ], + [ + 0.007718964945524931, + -0.9988952279090881, + 0.046356141567230225, + 0.03541216254234314 + ], + [ + 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": "1727777066_11735200", + "mask_path": "../../mask/hdr_left_02115.png" + }, + { + "file_path": "../../rgb/hdr_left_02116.png", + "transform_matrix": [ + [ + -0.8328147530555725, + -0.0329095795750618, + -0.5525726675987244, + 28.187551498413086 + ], + [ + 0.5534871816635132, + -0.03425714373588562, + -0.8321529626846313, + 28.591894149780273 + ], + [ + 0.008456237614154816, + -0.9988710880279541, + 0.04674488306045532, + 0.039338260889053345 + ], + [ + 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": "1727777066_111735105", + "mask_path": "../../mask/hdr_left_02116.png" + }, + { + "file_path": "../../rgb/hdr_left_02117.png", + "transform_matrix": [ + [ + -0.8337153196334839, + -0.030551696196198463, + -0.5513486266136169, + 28.095359802246094 + ], + [ + 0.5520931482315063, + -0.02699359320104122, + -0.833345353603363, + 28.60684585571289 + ], + [ + 0.010577230714261532, + -0.9991687536239624, + 0.03937235847115517, + 0.03948262333869934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2117, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_211735248", + "mask_path": "../../mask/hdr_left_02117.png" + }, + { + "file_path": "../../rgb/hdr_left_02118.png", + "transform_matrix": [ + [ + -0.8377640843391418, + -0.022321557626128197, + -0.5455757975578308, + 27.984169006347656 + ], + [ + 0.5459544658660889, + -0.017376869916915894, + -0.8376347422599792, + 28.632247924804688 + ], + [ + 0.00921691209077835, + -0.999599814414978, + 0.02674427255988121, + 0.04389131814241409 + ], + [ + 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": "1727777066_311734676", + "mask_path": "../../mask/hdr_left_02118.png" + }, + { + "file_path": "../../rgb/hdr_left_02119.png", + "transform_matrix": [ + [ + -0.8443208336830139, + -0.023246409371495247, + -0.5353333950042725, + 27.897872924804688 + ], + [ + 0.535738468170166, + -0.017375849187374115, + -0.8442051410675049, + 28.644357681274414 + ], + [ + 0.010322862304747105, + -0.9995788335800171, + 0.027124790474772453, + 0.04299583286046982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2119, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_411734580", + "mask_path": "../../mask/hdr_left_02119.png" + }, + { + "file_path": "../../rgb/hdr_left_02120.png", + "transform_matrix": [ + [ + -0.8463664650917053, + -0.028253285214304924, + -0.531851053237915, + 27.814943313598633 + ], + [ + 0.5324680805206299, + -0.02258438803255558, + -0.8461487293243408, + 28.658870697021484 + ], + [ + 0.011894945986568928, + -0.9993456602096558, + 0.03415863960981369, + 0.04177113622426987 + ], + [ + 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": "1727777066_511734485", + "mask_path": "../../mask/hdr_left_02120.png" + }, + { + "file_path": "../../rgb/hdr_left_02121.png", + "transform_matrix": [ + [ + -0.841677188873291, + -0.03304051235318184, + -0.5389691591262817, + 27.716325759887695 + ], + [ + 0.5398444533348083, + -0.029051413759589195, + -0.8412632346153259, + 28.684053421020508 + ], + [ + 0.012137955985963345, + -0.9990317225456238, + 0.042288657277822495, + 0.050328344106674194 + ], + [ + 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": "1727777066_611734151", + "mask_path": "../../mask/hdr_left_02121.png" + }, + { + "file_path": "../../rgb/hdr_left_02122.png", + "transform_matrix": [ + [ + -0.8336279988288879, + -0.03554648160934448, + -0.5511811971664429, + 27.63283348083496 + ], + [ + 0.5521804094314575, + -0.030699947848916054, + -0.833159327507019, + 28.705081939697266 + ], + [ + 0.012694644741714, + -0.9988963603973389, + 0.045220404863357544, + 0.05921301990747452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2122, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_711734294", + "mask_path": "../../mask/hdr_left_02122.png" + }, + { + "file_path": "../../rgb/hdr_left_02123.png", + "transform_matrix": [ + [ + -0.8264263272285461, + -0.03545329347252846, + -0.5619274973869324, + 27.55332374572754 + ], + [ + 0.5628052353858948, + -0.022907501086592674, + -0.8262719511985779, + 28.723716735839844 + ], + [ + 0.016421707347035408, + -0.9991088509559631, + 0.03888466954231262, + 0.05857148766517639 + ], + [ + 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": "1727777066_811734676", + "mask_path": "../../mask/hdr_left_02123.png" + }, + { + "file_path": "../../rgb/hdr_left_02124.png", + "transform_matrix": [ + [ + -0.8233224153518677, + -0.02989102713763714, + -0.5667862296104431, + 27.437780380249023 + ], + [ + 0.567291259765625, + -0.011830577626824379, + -0.823432207107544, + 28.75336265563965 + ], + [ + 0.017907826229929924, + -0.9994832277297974, + 0.026697300374507904, + 0.06047392636537552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2124, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_911735773", + "mask_path": "../../mask/hdr_left_02124.png" + }, + { + "file_path": "../../rgb/hdr_left_02125.png", + "transform_matrix": [ + [ + -0.8262866139411926, + -0.02435299940407276, + -0.5627231597900391, + 27.33735466003418 + ], + [ + 0.5630430579185486, + -0.008637691847980022, + -0.8263823390007019, + 28.773113250732422 + ], + [ + 0.01526426337659359, + -0.9996660947799683, + 0.020848996937274933, + 0.06042087823152542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2125, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_11734962", + "mask_path": "../../mask/hdr_left_02125.png" + }, + { + "file_path": "../../rgb/hdr_left_02126.png", + "transform_matrix": [ + [ + -0.827350914478302, + -0.02636874094605446, + -0.5610660314559937, + 27.2614688873291 + ], + [ + 0.56144118309021, + -0.009377689100801945, + -0.8274634480476379, + 28.787967681884766 + ], + [ + 0.016557665541768074, + -0.9996083378791809, + 0.022563140839338303, + 0.05500882863998413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2126, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_111733913", + "mask_path": "../../mask/hdr_left_02126.png" + }, + { + "file_path": "../../rgb/hdr_left_02127.png", + "transform_matrix": [ + [ + -0.8238462805747986, + -0.032890331000089645, + -0.5658583045005798, + 27.162742614746094 + ], + [ + 0.5665332078933716, + -0.016403619199991226, + -0.8238756060600281, + 28.818391799926758 + ], + [ + 0.01781541481614113, + -0.9993244409561157, + 0.03214753046631813, + 0.0607137456536293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2127, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_211735963", + "mask_path": "../../mask/hdr_left_02127.png" + }, + { + "file_path": "../../rgb/hdr_left_02128.png", + "transform_matrix": [ + [ + -0.8164103031158447, + -0.037219494581222534, + -0.5762714147567749, + 27.07101058959961 + ], + [ + 0.5771753191947937, + -0.020603176206350327, + -0.816360354423523, + 28.850147247314453 + ], + [ + 0.018511490896344185, + -0.9990947842597961, + 0.038302820175886154, + 0.07530184090137482 + ], + [ + 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": "1727777067_311734676", + "mask_path": "../../mask/hdr_left_02128.png" + }, + { + "file_path": "../../rgb/hdr_left_02129.png", + "transform_matrix": [ + [ + -0.8099261522293091, + -0.0404014028608799, + -0.5851386785507202, + 27.003799438476562 + ], + [ + 0.5860773324966431, + -0.01648067869246006, + -0.8100874423980713, + 28.869529724121094 + ], + [ + 0.023085182532668114, + -0.9990476965904236, + 0.037026479840278625, + 0.08181363344192505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2129, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_411734580", + "mask_path": "../../mask/hdr_left_02129.png" + }, + { + "file_path": "../../rgb/hdr_left_02130.png", + "transform_matrix": [ + [ + -0.8075863718986511, + -0.035043954849243164, + -0.5887070894241333, + 26.912975311279297 + ], + [ + 0.5892677307128906, + -0.007622463162988424, + -0.8079018592834473, + 28.895166397094727 + ], + [ + 0.023824680596590042, + -0.999356746673584, + 0.026806076988577843, + 0.08425179123878479 + ], + [ + 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": "1727777067_511734247", + "mask_path": "../../mask/hdr_left_02130.png" + }, + { + "file_path": "../../rgb/hdr_left_02131.png", + "transform_matrix": [ + [ + -0.8098894357681274, + -0.020818665623664856, + -0.5862130522727966, + 26.813119888305664 + ], + [ + 0.5863571763038635, + -0.0010282896691933274, + -0.8100519776344299, + 28.91920280456543 + ], + [ + 0.016261402517557144, + -0.9997827410697937, + 0.013039975427091122, + 0.08302874863147736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2131, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_611733675", + "mask_path": "../../mask/hdr_left_02131.png" + }, + { + "file_path": "../../rgb/hdr_left_02132.png", + "transform_matrix": [ + [ + -0.8117126822471619, + -0.019223297014832497, + -0.5837403535842896, + 26.742887496948242 + ], + [ + 0.5838555693626404, + -0.00047202350106090307, + -0.8118573427200317, + 28.93463706970215 + ], + [ + 0.015331034548580647, + -0.9998151063919067, + 0.011606781743466854, + 0.07907705754041672 + ], + [ + 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": "1727777067_711735010", + "mask_path": "../../mask/hdr_left_02132.png" + }, + { + "file_path": "../../rgb/hdr_left_02133.png", + "transform_matrix": [ + [ + -0.8086647391319275, + -0.02427573688328266, + -0.5877687335014343, + 26.661787033081055 + ], + [ + 0.5881026983261108, + -0.009550921618938446, + -0.8087298274040222, + 28.96350860595703 + ], + [ + 0.014018778689205647, + -0.9996597170829773, + 0.02200012095272541, + 0.07765147089958191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2133, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_811734914", + "mask_path": "../../mask/hdr_left_02133.png" + }, + { + "file_path": "../../rgb/hdr_left_02134.png", + "transform_matrix": [ + [ + -0.8013250827789307, + -0.028625741600990295, + -0.5975438356399536, + 26.56895637512207 + ], + [ + 0.5981331467628479, + -0.020449744537472725, + -0.8011358380317688, + 29.003660202026367 + ], + [ + 0.010713485069572926, + -0.9993810653686523, + 0.03350890055298805, + 0.08334808796644211 + ], + [ + 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": "1727777067_911734342", + "mask_path": "../../mask/hdr_left_02134.png" + }, + { + "file_path": "../../rgb/hdr_left_02135.png", + "transform_matrix": [ + [ + -0.7931602597236633, + -0.03030509315431118, + -0.6082584857940674, + 26.494367599487305 + ], + [ + 0.6089204549789429, + -0.02205274999141693, + -0.792924702167511, + 29.031044006347656 + ], + [ + 0.010615885257720947, + -0.9992974400520325, + 0.035944752395153046, + 0.09157203882932663 + ], + [ + 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": "1727777068_11735439", + "mask_path": "../../mask/hdr_left_02135.png" + }, + { + "file_path": "../../rgb/hdr_left_02136.png", + "transform_matrix": [ + [ + -0.7875900268554688, + -0.026128645986318588, + -0.6156454086303711, + 26.414731979370117 + ], + [ + 0.6160575747489929, + -0.011943400837481022, + -0.7876104712486267, + 29.05851936340332 + ], + [ + 0.013226296752691269, + -0.9995872378349304, + 0.025503255426883698, + 0.09370157122612 + ], + [ + 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": "1727777068_111735343", + "mask_path": "../../mask/hdr_left_02136.png" + }, + { + "file_path": "../../rgb/hdr_left_02137.png", + "transform_matrix": [ + [ + -0.7871758937835693, + -0.015780901536345482, + -0.6165265440940857, + 26.305824279785156 + ], + [ + 0.6166085004806519, + -0.000416129594668746, + -0.7872698307037354, + 29.09639549255371 + ], + [ + 0.012167269363999367, + -0.9998754262924194, + 0.0100582055747509, + 0.09585477411746979 + ], + [ + 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": "1727777068_211735010", + "mask_path": "../../mask/hdr_left_02137.png" + }, + { + "file_path": "../../rgb/hdr_left_02138.png", + "transform_matrix": [ + [ + -0.7912387847900391, + -0.015436405315995216, + -0.6113123297691345, + 26.220895767211914 + ], + [ + 0.6113580465316772, + 0.0021118270233273506, + -0.7913512587547302, + 29.119874954223633 + ], + [ + 0.013506603427231312, + -0.9998786449432373, + 0.0077662114053964615, + 0.09193277359008789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2138, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_311734676", + "mask_path": "../../mask/hdr_left_02138.png" + }, + { + "file_path": "../../rgb/hdr_left_02139.png", + "transform_matrix": [ + [ + -0.7921111583709717, + -0.020339177921414375, + -0.6100378036499023, + 26.146892547607422 + ], + [ + 0.6100776791572571, + 0.004903063643723726, + -0.7923265099525452, + 29.147151947021484 + ], + [ + 0.019106322899460793, + -0.9997811913490295, + 0.008524708449840546, + 0.08809906244277954 + ], + [ + 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": "1727777068_411734580", + "mask_path": "../../mask/hdr_left_02139.png" + }, + { + "file_path": "../../rgb/hdr_left_02140.png", + "transform_matrix": [ + [ + -0.7886239886283875, + -0.02911645919084549, + -0.6141858696937561, + 26.047561645507812 + ], + [ + 0.6143921613693237, + 0.0022898735478520393, + -0.7889974117279053, + 29.191547393798828 + ], + [ + 0.024379219859838486, + -0.9995735287666321, + 0.01608307845890522, + 0.09741965681314468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2140, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_511734724", + "mask_path": "../../mask/hdr_left_02140.png" + }, + { + "file_path": "../../rgb/hdr_left_02141.png", + "transform_matrix": [ + [ + -0.7818024754524231, + -0.033195335417985916, + -0.6226418018341064, + 25.958009719848633 + ], + [ + 0.6230420470237732, + -0.0022531196009367704, + -0.7821850776672363, + 29.230337142944336 + ], + [ + 0.024562006816267967, + -0.9994463920593262, + 0.022443586960434914, + 0.11105448752641678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2141, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_611735105", + "mask_path": "../../mask/hdr_left_02141.png" + }, + { + "file_path": "../../rgb/hdr_left_02142.png", + "transform_matrix": [ + [ + -0.7762896418571472, + -0.034267570823431015, + -0.6294443011283875, + 25.891971588134766 + ], + [ + 0.6297557950019836, + 0.0021388179156929255, + -0.776790201663971, + 29.251028060913086 + ], + [ + 0.027964971959590912, + -0.9994104504585266, + 0.01991986110806465, + 0.11074798554182053 + ], + [ + 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": "1727777068_711735010", + "mask_path": "../../mask/hdr_left_02142.png" + }, + { + "file_path": "../../rgb/hdr_left_02143.png", + "transform_matrix": [ + [ + -0.7750253677368164, + -0.027158144861459732, + -0.6313461661338806, + 25.79463768005371 + ], + [ + 0.6313538551330566, + 0.009376652538776398, + -0.7754383087158203, + 29.28223419189453 + ], + [ + 0.02697937563061714, + -0.9995872378349304, + 0.00987925473600626, + 0.11189772188663483 + ], + [ + 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": "1727777068_811734437", + "mask_path": "../../mask/hdr_left_02143.png" + }, + { + "file_path": "../../rgb/hdr_left_02144.png", + "transform_matrix": [ + [ + -0.7788477540016174, + -0.01403561607003212, + -0.6270558834075928, + 25.698802947998047 + ], + [ + 0.6268866062164307, + 0.014825615100562572, + -0.778969407081604, + 29.308420181274414 + ], + [ + 0.020229801535606384, + -0.99979168176651, + -0.0027481531724333763, + 0.11182677745819092 + ], + [ + 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": "1727777068_911734580", + "mask_path": "../../mask/hdr_left_02144.png" + }, + { + "file_path": "../../rgb/hdr_left_02145.png", + "transform_matrix": [ + [ + -0.7812741994857788, + -0.013392748311161995, + -0.6240442395210266, + 25.625978469848633 + ], + [ + 0.6238381266593933, + 0.016711335629224777, + -0.7813748121261597, + 29.326805114746094 + ], + [ + 0.020893368870019913, + -0.9997707009315491, + -0.0047012255527079105, + 0.10879012197256088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2145, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_11734247", + "mask_path": "../../mask/hdr_left_02145.png" + }, + { + "file_path": "../../rgb/hdr_left_02146.png", + "transform_matrix": [ + [ + -0.7792405486106873, + -0.019280117005109787, + -0.6264282464981079, + 25.539216995239258 + ], + [ + 0.6262990832328796, + 0.012884803116321564, + -0.7794764041900635, + 29.358800888061523 + ], + [ + 0.023099800571799278, + -0.9997311234474182, + 0.0020347596146166325, + 0.10839175432920456 + ], + [ + 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": "1727777069_111734390", + "mask_path": "../../mask/hdr_left_02146.png" + }, + { + "file_path": "../../rgb/hdr_left_02147.png", + "transform_matrix": [ + [ + -0.7726081013679504, + -0.027079401537775993, + -0.6343053579330444, + 25.448293685913086 + ], + [ + 0.6343686580657959, + 0.007288852706551552, + -0.7729963064193726, + 29.402673721313477 + ], + [ + 0.025555629283189774, + -0.999606728553772, + 0.011546898633241653, + 0.11901063472032547 + ], + [ + 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": "1727777069_211735248", + "mask_path": "../../mask/hdr_left_02147.png" + }, + { + "file_path": "../../rgb/hdr_left_02148.png", + "transform_matrix": [ + [ + -0.764900267124176, + -0.030333230271935463, + -0.6434339880943298, + 25.37427520751953 + ], + [ + 0.6436102986335754, + 0.004837727174162865, + -0.7653380036354065, + 29.43115234375 + ], + [ + 0.02632793039083481, + -0.9995281100273132, + 0.015822404995560646, + 0.13010559976100922 + ], + [ + 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": "1727777069_311734437", + "mask_path": "../../mask/hdr_left_02148.png" + }, + { + "file_path": "../../rgb/hdr_left_02149.png", + "transform_matrix": [ + [ + -0.7597270011901855, + -0.029229652136564255, + -0.6495848298072815, + 25.296865463256836 + ], + [ + 0.649639368057251, + 0.008882768452167511, + -0.7601906657218933, + 29.4594783782959 + ], + [ + 0.02799021452665329, + -0.9995332956314087, + 0.012240253388881683, + 0.12613064050674438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2149, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_411734342", + "mask_path": "../../mask/hdr_left_02149.png" + }, + { + "file_path": "../../rgb/hdr_left_02150.png", + "transform_matrix": [ + [ + -0.7593917846679688, + -0.023302480578422546, + -0.6502162218093872, + 25.191675186157227 + ], + [ + 0.650111973285675, + 0.012835540808737278, + -0.7597301006317139, + 29.496549606323242 + ], + [ + 0.02604946680366993, + -0.9996460676193237, + 0.005402018781751394, + 0.12911595404148102 + ], + [ + 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": "1727777069_511735439", + "mask_path": "../../mask/hdr_left_02150.png" + }, + { + "file_path": "../../rgb/hdr_left_02151.png", + "transform_matrix": [ + [ + -0.7637376189231873, + -0.021085726097226143, + -0.6451823115348816, + 25.109905242919922 + ], + [ + 0.6451336741447449, + 0.00994262658059597, + -0.7640050053596497, + 29.518722534179688 + ], + [ + 0.022524407133460045, + -0.999728262424469, + 0.006009554490447044, + 0.12876562774181366 + ], + [ + 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": "1727777069_611734151", + "mask_path": "../../mask/hdr_left_02151.png" + }, + { + "file_path": "../../rgb/hdr_left_02152.png", + "transform_matrix": [ + [ + -0.7647107243537903, + -0.02493053674697876, + -0.6438913345336914, + 25.0388126373291 + ], + [ + 0.6440194845199585, + 0.0035610694903880358, + -0.7650008797645569, + 29.545316696166992 + ], + [ + 0.02136482112109661, + -0.9996829032897949, + 0.013332565315067768, + 0.12496355175971985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2152, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_711735010", + "mask_path": "../../mask/hdr_left_02152.png" + }, + { + "file_path": "../../rgb/hdr_left_02153.png", + "transform_matrix": [ + [ + -0.7597689032554626, + -0.030402803793549538, + -0.6494820713996887, + 24.947208404541016 + ], + [ + 0.6498922109603882, + -0.005112354643642902, + -0.7600092887878418, + 29.588232040405273 + ], + [ + 0.01978602632880211, + -0.999524712562561, + 0.023642752319574356, + 0.1293078511953354 + ], + [ + 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": "1727777069_811733961", + "mask_path": "../../mask/hdr_left_02153.png" + }, + { + "file_path": "../../rgb/hdr_left_02154.png", + "transform_matrix": [ + [ + -0.7510893940925598, + -0.032077424228191376, + -0.6594207286834717, + 24.867708206176758 + ], + [ + 0.6599774956703186, + -0.010525542311370373, + -0.7512115836143494, + 29.62751007080078 + ], + [ + 0.017156168818473816, + -0.9994300007820129, + 0.029076004400849342, + 0.14142906665802002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2154, + "fl_x": "555.7031751427915", + "fl_y": "555.6703858729365", + "cx": "929.0481591956092", + "cy": "638.5822769126742", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_911734342", + "mask_path": "../../mask/hdr_left_02154.png" + }, + { + "file_path": "../../rgb/hdr_right_02000.png", + "transform_matrix": [ + [ + 0.9951739311218262, + -0.01680269092321396, + 0.09667739272117615, + 34.671207427978516 + ], + [ + -0.09667717665433884, + 0.0008269206737168133, + 0.9953154921531677, + 23.923011779785156 + ], + [ + -0.0168039221316576, + -0.9998584985733032, + -0.0008015077328309417, + -0.21789062023162842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2000, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777056_811734199", + "mask_path": "../../mask/hdr_right_02000.png" + }, + { + "file_path": "../../rgb/hdr_right_02001.png", + "transform_matrix": [ + [ + 0.992799699306488, + -0.019178397953510284, + 0.11824089288711548, + 34.60727310180664 + ], + [ + -0.11816572397947311, + 0.005010219290852547, + 0.9929812550544739, + 23.94769287109375 + ], + [ + -0.019636204466223717, + -0.9998034834861755, + 0.00270791444927454, + -0.22019731998443604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2001, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777056_911734342", + "mask_path": "../../mask/hdr_right_02001.png" + }, + { + "file_path": "../../rgb/hdr_right_02002.png", + "transform_matrix": [ + [ + 0.9908283352851868, + -0.017651330679655075, + 0.13396884500980377, + 34.506813049316406 + ], + [ + -0.13374562561511993, + 0.013277499936521053, + 0.9909267425537109, + 23.971954345703125 + ], + [ + -0.019269946962594986, + -0.9997560381889343, + 0.010794935747981071, + -0.2223179042339325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2002, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_11734724", + "mask_path": "../../mask/hdr_right_02002.png" + }, + { + "file_path": "../../rgb/hdr_right_02003.png", + "transform_matrix": [ + [ + 0.9900426268577576, + -0.009136853739619255, + 0.14047099649906158, + 34.405067443847656 + ], + [ + -0.1402665227651596, + 0.02010495215654373, + 0.9899097084999084, + 23.983673095703125 + ], + [ + -0.011868820525705814, + -0.9997560977935791, + 0.018623163923621178, + -0.22315216064453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2003, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_111735820", + "mask_path": "../../mask/hdr_right_02003.png" + }, + { + "file_path": "../../rgb/hdr_right_02004.png", + "transform_matrix": [ + [ + 0.9879454374313354, + -0.007877912372350693, + 0.15460239350795746, + 34.343605041503906 + ], + [ + -0.15441961586475372, + 0.020088916644454002, + 0.987801194190979, + 23.997495651245117 + ], + [ + -0.010887605138123035, + -0.9997671246528625, + 0.018630247563123703, + -0.22651425004005432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2004, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_211735725", + "mask_path": "../../mask/hdr_right_02004.png" + }, + { + "file_path": "../../rgb/hdr_right_02005.png", + "transform_matrix": [ + [ + 0.9838220477104187, + -0.011266176588833332, + 0.17879362404346466, + 34.26883316040039 + ], + [ + -0.17861606180667877, + 0.015178857371211052, + 0.9838017821311951, + 24.02875518798828 + ], + [ + -0.013797564432024956, + -0.9998213052749634, + 0.012920974753797054, + -0.2232140302658081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2005, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_311736583", + "mask_path": "../../mask/hdr_right_02005.png" + }, + { + "file_path": "../../rgb/hdr_right_02006.png", + "transform_matrix": [ + [ + 0.9779794812202454, + -0.014387097209692001, + 0.20820479094982147, + 34.17463684082031 + ], + [ + -0.20809422433376312, + 0.008813506923615932, + 0.9780691266059875, + 24.06757164001465 + ], + [ + -0.01590658910572529, + -0.9998576641082764, + 0.005625554826110601, + -0.21215200424194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2006, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_411734580", + "mask_path": "../../mask/hdr_right_02006.png" + }, + { + "file_path": "../../rgb/hdr_right_02007.png", + "transform_matrix": [ + [ + 0.971246063709259, + -0.015047643333673477, + 0.23760183155536652, + 34.10078811645508 + ], + [ + -0.2375308871269226, + 0.006360509432852268, + 0.9713591933250427, + 24.096424102783203 + ], + [ + -0.016127934679389, + -0.9998664855957031, + 0.0026033399626612663, + -0.20408235490322113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2007, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_511734724", + "mask_path": "../../mask/hdr_right_02007.png" + }, + { + "file_path": "../../rgb/hdr_right_02008.png", + "transform_matrix": [ + [ + 0.9647514224052429, + -0.01626788266003132, + 0.2626594305038452, + 34.031436920166016 + ], + [ + -0.2624594271183014, + 0.01343973446637392, + 0.9648494720458984, + 24.1270751953125 + ], + [ + -0.019226128235459328, + -0.9997773170471191, + 0.008696342818439007, + -0.20714733004570007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2008, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_611734628", + "mask_path": "../../mask/hdr_right_02008.png" + }, + { + "file_path": "../../rgb/hdr_right_02009.png", + "transform_matrix": [ + [ + 0.9605265855789185, + -0.012793853878974915, + 0.27789372205734253, + 33.928348541259766 + ], + [ + -0.2776190936565399, + 0.01977355405688286, + 0.9604878425598145, + 24.165691375732422 + ], + [ + -0.017783284187316895, + -0.9997226595878601, + 0.01544120628386736, + -0.20986522734165192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2009, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_711736202", + "mask_path": "../../mask/hdr_right_02009.png" + }, + { + "file_path": "../../rgb/hdr_right_02010.png", + "transform_matrix": [ + [ + 0.9596522450447083, + -0.0071379803121089935, + 0.281098872423172, + 33.84136199951172 + ], + [ + -0.2809095084667206, + 0.020268740132451057, + 0.9595202803611755, + 24.19610595703125 + ], + [ + -0.012546557001769543, + -0.9997690916061401, + 0.017445815727114677, + -0.20955051481723785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2010, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_811736106", + "mask_path": "../../mask/hdr_right_02010.png" + }, + { + "file_path": "../../rgb/hdr_right_02011.png", + "transform_matrix": [ + [ + 0.9576694965362549, + -0.009184114634990692, + 0.2877235412597656, + 33.77866744995117 + ], + [ + -0.2875286340713501, + 0.018144581466913223, + 0.9576001763343811, + 24.217870712280273 + ], + [ + -0.01401533279567957, + -0.999793291091919, + 0.014735816977918148, + -0.21271798014640808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2011, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777057_911739349", + "mask_path": "../../mask/hdr_right_02011.png" + }, + { + "file_path": "../../rgb/hdr_right_02012.png", + "transform_matrix": [ + [ + 0.9539288878440857, + -0.014697320759296417, + 0.2996727228164673, + 33.69652557373047 + ], + [ + -0.29949405789375305, + 0.013188600540161133, + 0.954007089138031, + 24.26007652282715 + ], + [ + -0.017973609268665314, + -0.9998049736022949, + 0.008179225958883762, + -0.20652353763580322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2012, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_11734008", + "mask_path": "../../mask/hdr_right_02012.png" + }, + { + "file_path": "../../rgb/hdr_right_02013.png", + "transform_matrix": [ + [ + 0.9480506181716919, + -0.019219979643821716, + 0.31753838062286377, + 33.613258361816406 + ], + [ + -0.3174326419830322, + 0.008401013910770416, + 0.9482436776161194, + 24.310863494873047 + ], + [ + -0.02089286781847477, + -0.9997799396514893, + 0.0018635363085195422, + -0.1924991011619568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2013, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_111733913", + "mask_path": "../../mask/hdr_right_02013.png" + }, + { + "file_path": "../../rgb/hdr_right_02014.png", + "transform_matrix": [ + [ + 0.9414886832237244, + -0.022032830864191055, + 0.33632364869117737, + 33.55479049682617 + ], + [ + -0.33620980381965637, + 0.008792229928076267, + 0.9417459964752197, + 24.3460693359375 + ], + [ + -0.02370636723935604, + -0.9997185468673706, + 0.0008701291517354548, + -0.18734610080718994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2014, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_211734056", + "mask_path": "../../mask/hdr_right_02014.png" + }, + { + "file_path": "../../rgb/hdr_right_02015.png", + "transform_matrix": [ + [ + 0.9353634119033813, + -0.021454591304063797, + 0.35303688049316406, + 33.47734451293945 + ], + [ + -0.35280662775039673, + 0.013832326978445053, + 0.9355940222740173, + 24.387981414794922 + ], + [ + -0.024956107139587402, + -0.9996741414070129, + 0.005368929356336594, + -0.18948449194431305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2015, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_311735391", + "mask_path": "../../mask/hdr_right_02015.png" + }, + { + "file_path": "../../rgb/hdr_right_02016.png", + "transform_matrix": [ + [ + 0.9319468140602112, + -0.01486324891448021, + 0.3622903823852539, + 33.382816314697266 + ], + [ + -0.36200639605522156, + 0.01877276413142681, + 0.9319866299629211, + 24.435129165649414 + ], + [ + -0.020653540268540382, + -0.9997133016586304, + 0.012114623561501503, + -0.18671511113643646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2016, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_411733865", + "mask_path": "../../mask/hdr_right_02016.png" + }, + { + "file_path": "../../rgb/hdr_right_02017.png", + "transform_matrix": [ + [ + 0.9327662587165833, + -0.012815553694963455, + 0.3602541387081146, + 33.31443786621094 + ], + [ + -0.35997074842453003, + 0.020089270547032356, + 0.9327473044395447, + 24.466171264648438 + ], + [ + -0.019190916791558266, + -0.9997161030769348, + 0.014125366695225239, + -0.1872711479663849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2017, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_511734008", + "mask_path": "../../mask/hdr_right_02017.png" + }, + { + "file_path": "../../rgb/hdr_right_02018.png", + "transform_matrix": [ + [ + 0.9338449239730835, + -0.016534654423594475, + 0.3572958707809448, + 33.2465934753418 + ], + [ + -0.3570549786090851, + 0.015849977731704712, + 0.9339489340782166, + 24.497106552124023 + ], + [ + -0.021105652675032616, + -0.9997376203536987, + 0.008897637017071247, + -0.1881076991558075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2018, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_611734390", + "mask_path": "../../mask/hdr_right_02018.png" + }, + { + "file_path": "../../rgb/hdr_right_02019.png", + "transform_matrix": [ + [ + 0.9324324131011963, + -0.02198062837123871, + 0.3606750965118408, + 33.16120529174805 + ], + [ + -0.3605615794658661, + 0.00905927550047636, + 0.9326913356781006, + 24.544776916503906 + ], + [ + -0.023768598213791847, + -0.9997172951698303, + 0.0005217902362346649, + -0.18020561337471008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2019, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_711734294", + "mask_path": "../../mask/hdr_right_02019.png" + }, + { + "file_path": "../../rgb/hdr_right_02020.png", + "transform_matrix": [ + [ + 0.9284080266952515, + -0.024257177487015724, + 0.3707696497440338, + 33.08416748046875 + ], + [ + -0.37079188227653503, + 0.0037380042485892773, + 0.9287084341049194, + 24.58956527709961 + ], + [ + -0.023913783952593803, + -0.9996987581253052, + -0.005523973144590855, + -0.16591346263885498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2020, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_811734199", + "mask_path": "../../mask/hdr_right_02020.png" + }, + { + "file_path": "../../rgb/hdr_right_02021.png", + "transform_matrix": [ + [ + 0.9226388335227966, + -0.02761395275592804, + 0.3846755027770996, + 33.028533935546875 + ], + [ + -0.3847042918205261, + 0.004472624976187944, + 0.9230290651321411, + 24.627164840698242 + ], + [ + -0.02720898948609829, + -0.9996086359024048, + -0.006496591027826071, + -0.16307038068771362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2021, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777058_911734104", + "mask_path": "../../mask/hdr_right_02021.png" + }, + { + "file_path": "../../rgb/hdr_right_02022.png", + "transform_matrix": [ + [ + 0.9156923294067383, + -0.02410665899515152, + 0.40115633606910706, + 32.94670104980469 + ], + [ + -0.40100520849227905, + 0.01101702731102705, + 0.9160096049308777, + 24.687353134155273 + ], + [ + -0.026501478627324104, + -0.9996486306190491, + 0.00042130955262109637, + -0.16279539465904236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2022, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_11735200", + "mask_path": "../../mask/hdr_right_02022.png" + }, + { + "file_path": "../../rgb/hdr_right_02023.png", + "transform_matrix": [ + [ + 0.910489559173584, + -0.01195603795349598, + 0.4133591949939728, + 32.85799789428711 + ], + [ + -0.4131411015987396, + 0.017155688256025314, + 0.9105054140090942, + 24.743608474731445 + ], + [ + -0.017977500334382057, + -0.9997813105583191, + 0.01068054512143135, + -0.1644381284713745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2023, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_111734628", + "mask_path": "../../mask/hdr_right_02023.png" + }, + { + "file_path": "../../rgb/hdr_right_02024.png", + "transform_matrix": [ + [ + 0.9054788947105408, + -0.009192492812871933, + 0.424291729927063, + 32.80317306518555 + ], + [ + -0.42407065629959106, + 0.01925455592572689, + 0.9054244160652161, + 24.774620056152344 + ], + [ + -0.016492655500769615, + -0.999772310256958, + 0.01353632565587759, + -0.16816648840904236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2024, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_211734056", + "mask_path": "../../mask/hdr_right_02024.png" + }, + { + "file_path": "../../rgb/hdr_right_02025.png", + "transform_matrix": [ + [ + 0.8984242677688599, + -0.013839592225849628, + 0.4389103651046753, + 32.74283981323242 + ], + [ + -0.4387017488479614, + 0.01576610468327999, + 0.8984943628311157, + 24.821691513061523 + ], + [ + -0.01935470476746559, + -0.999779999256134, + 0.008093195967376232, + -0.1673915684223175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2025, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_311735630", + "mask_path": "../../mask/hdr_right_02025.png" + }, + { + "file_path": "../../rgb/hdr_right_02026.png", + "transform_matrix": [ + [ + 0.8877090215682983, + -0.018387828022241592, + 0.4600375294685364, + 32.664817810058594 + ], + [ + -0.45990604162216187, + 0.011083425022661686, + 0.8878983855247498, + 24.891382217407227 + ], + [ + -0.021425316110253334, + -0.9997695088386536, + 0.0013821822358295321, + -0.15543729066848755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2026, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_411734819", + "mask_path": "../../mask/hdr_right_02026.png" + }, + { + "file_path": "../../rgb/hdr_right_02027.png", + "transform_matrix": [ + [ + 0.8732649683952332, + -0.01801895536482334, + 0.48691239953041077, + 32.609134674072266 + ], + [ + -0.48676809668540955, + 0.011970472522079945, + 0.8734491467475891, + 24.94761848449707 + ], + [ + -0.021567216143012047, + -0.9997660517692566, + 0.0016823398182168603, + -0.1464754045009613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2027, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_511734485", + "mask_path": "../../mask/hdr_right_02027.png" + }, + { + "file_path": "../../rgb/hdr_right_02028.png", + "transform_matrix": [ + [ + 0.8575051426887512, + -0.016344496980309486, + 0.5142158269882202, + 32.5592041015625 + ], + [ + -0.5139250159263611, + 0.0190111193805933, + 0.8576244115829468, + 24.999202728271484 + ], + [ + -0.023793255910277367, + -0.9996856451034546, + 0.00790228508412838, + -0.1512163281440735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2028, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_611734151", + "mask_path": "../../mask/hdr_right_02028.png" + }, + { + "file_path": "../../rgb/hdr_right_02029.png", + "transform_matrix": [ + [ + 0.8434241414070129, + -0.011215893551707268, + 0.5371313095092773, + 32.48391342163086 + ], + [ + -0.5367943644523621, + 0.023503048345446587, + 0.8433856964111328, + 25.06932258605957 + ], + [ + -0.022083546966314316, + -0.9996607899665833, + 0.013802407309412956, + -0.15032397210597992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2029, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_711735248", + "mask_path": "../../mask/hdr_right_02029.png" + }, + { + "file_path": "../../rgb/hdr_right_02030.png", + "transform_matrix": [ + [ + 0.8328859806060791, + -0.004724396392703056, + 0.5534243583679199, + 32.40843200683594 + ], + [ + -0.5531110763549805, + 0.027600372210144997, + 0.8326502442359924, + 25.130474090576172 + ], + [ + -0.019208485260605812, + -0.9996078610420227, + 0.020374845713377, + -0.14506445825099945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2030, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_811737298", + "mask_path": "../../mask/hdr_right_02030.png" + }, + { + "file_path": "../../rgb/hdr_right_02031.png", + "transform_matrix": [ + [ + 0.819115400314331, + -0.005509234499186277, + 0.5736024379730225, + 32.35660171508789 + ], + [ + -0.573199987411499, + 0.030793026089668274, + 0.8188366293907166, + 25.173824310302734 + ], + [ + -0.022174112498760223, + -0.9995105862617493, + 0.022065145894885063, + -0.147150456905365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2031, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777059_911735296", + "mask_path": "../../mask/hdr_right_02031.png" + }, + { + "file_path": "../../rgb/hdr_right_02032.png", + "transform_matrix": [ + [ + 0.8010466694831848, + -0.011506550945341587, + 0.598491370677948, + 32.295387268066406 + ], + [ + -0.597997784614563, + 0.029524145647883415, + 0.80095374584198, + 25.246700286865234 + ], + [ + -0.026886165142059326, + -0.9994978308677673, + 0.016769323498010635, + -0.13998551666736603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2032, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_11735677", + "mask_path": "../../mask/hdr_right_02032.png" + }, + { + "file_path": "../../rgb/hdr_right_02033.png", + "transform_matrix": [ + [ + 0.7781135439872742, + -0.018218714743852615, + 0.627859354019165, + 32.23120880126953 + ], + [ + -0.6273753643035889, + 0.026235785335302353, + 0.7782749533653259, + 25.3287410736084 + ], + [ + -0.030651552602648735, + -0.9994897842407227, + 0.00898444652557373, + -0.12756755948066711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2033, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_111735582", + "mask_path": "../../mask/hdr_right_02033.png" + }, + { + "file_path": "../../rgb/hdr_right_02034.png", + "transform_matrix": [ + [ + 0.7541993260383606, + -0.02113947831094265, + 0.656305193901062, + 32.18876647949219 + ], + [ + -0.655809223651886, + 0.02617803029716015, + 0.7544727325439453, + 25.380664825439453 + ], + [ + -0.03312993422150612, + -0.9994337558746338, + 0.005879985634237528, + -0.12120353430509567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2034, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_211735010", + "mask_path": "../../mask/hdr_right_02034.png" + }, + { + "file_path": "../../rgb/hdr_right_02035.png", + "transform_matrix": [ + [ + 0.7320247292518616, + -0.016443952918052673, + 0.681079626083374, + 32.1389045715332 + ], + [ + -0.6805129051208496, + 0.029719604179263115, + 0.732133150100708, + 25.43428611755371 + ], + [ + -0.0322805792093277, + -0.9994230270385742, + 0.010565158911049366, + -0.125375896692276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2035, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_311734437", + "mask_path": "../../mask/hdr_right_02035.png" + }, + { + "file_path": "../../rgb/hdr_right_02036.png", + "transform_matrix": [ + [ + 0.7177078127861023, + -0.008424495346844196, + 0.6962934136390686, + 32.067325592041016 + ], + [ + -0.6958194375038147, + 0.030141305178403854, + 0.7175840139389038, + 25.504013061523438 + ], + [ + -0.027032475918531418, + -0.9995101094245911, + 0.015770724043250084, + -0.12080978602170944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2036, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_411734580", + "mask_path": "../../mask/hdr_right_02036.png" + }, + { + "file_path": "../../rgb/hdr_right_02037.png", + "transform_matrix": [ + [ + 0.7168466448783875, + -0.006891222670674324, + 0.697196900844574, + 32.00495147705078 + ], + [ + -0.6967514753341675, + 0.02999666891992092, + 0.7166851758956909, + 25.558216094970703 + ], + [ + -0.025852419435977936, + -0.9995262622833252, + 0.01670154184103012, + -0.11911028623580933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2037, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_511735439", + "mask_path": "../../mask/hdr_right_02037.png" + }, + { + "file_path": "../../rgb/hdr_right_02038.png", + "transform_matrix": [ + [ + 0.7177171111106873, + -0.011134137399494648, + 0.6962458491325378, + 31.956745147705078 + ], + [ + -0.6957970261573792, + 0.027822723612189293, + 0.717699408531189, + 25.605674743652344 + ], + [ + -0.02736242115497589, + -0.9995508193969727, + 0.01222174521535635, + -0.12480951845645905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2038, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_611734390", + "mask_path": "../../mask/hdr_right_02038.png" + }, + { + "file_path": "../../rgb/hdr_right_02039.png", + "transform_matrix": [ + [ + 0.7152709364891052, + -0.01955496519804001, + 0.698573648929596, + 31.896345138549805 + ], + [ + -0.698225200176239, + 0.022171057760715485, + 0.7155348062515259, + 25.665925979614258 + ], + [ + -0.029480373486876488, + -0.9995629191398621, + 0.0022045420482754707, + -0.11885754019021988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2039, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_711734533", + "mask_path": "../../mask/hdr_right_02039.png" + }, + { + "file_path": "../../rgb/hdr_right_02040.png", + "transform_matrix": [ + [ + 0.7085594534873962, + -0.024584421887993813, + 0.7052227854728699, + 31.844736099243164 + ], + [ + -0.7050419449806213, + 0.016855617985129356, + 0.7089653611183167, + 25.73029899597168 + ], + [ + -0.02931646630167961, + -0.9995556473731995, + -0.00538983941078186, + -0.1026194840669632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2040, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_811734199", + "mask_path": "../../mask/hdr_right_02040.png" + }, + { + "file_path": "../../rgb/hdr_right_02041.png", + "transform_matrix": [ + [ + 0.7019637823104858, + -0.027694636955857277, + 0.7116740942001343, + 31.80409049987793 + ], + [ + -0.7115136384963989, + 0.01699170470237732, + 0.7024667859077454, + 25.784154891967773 + ], + [ + -0.031547121703624725, + -0.9994720220565796, + -0.007777553517371416, + -0.09605015814304352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2041, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777060_911734580", + "mask_path": "../../mask/hdr_right_02041.png" + }, + { + "file_path": "../../rgb/hdr_right_02042.png", + "transform_matrix": [ + [ + 0.6983614563941956, + -0.02340271696448326, + 0.7153626680374146, + 31.748275756835938 + ], + [ + -0.7151401042938232, + 0.018277224153280258, + 0.6987420916557312, + 25.852394104003906 + ], + [ + -0.029427306726574898, + -0.9995589852333069, + -0.003972114063799381, + -0.09842536598443985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2042, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_11734485", + "mask_path": "../../mask/hdr_right_02042.png" + }, + { + "file_path": "../../rgb/hdr_right_02043.png", + "transform_matrix": [ + [ + 0.7006699442863464, + -0.01079955231398344, + 0.7134039998054504, + 31.678518295288086 + ], + [ + -0.7131937742233276, + 0.017997831106185913, + 0.7007359266281128, + 25.927692413330078 + ], + [ + -0.020407356321811676, + -0.9997797012329102, + 0.004908362869173288, + -0.10194844007492065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2043, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_111734390", + "mask_path": "../../mask/hdr_right_02043.png" + }, + { + "file_path": "../../rgb/hdr_right_02044.png", + "transform_matrix": [ + [ + 0.704973578453064, + -0.007348668295890093, + 0.709195613861084, + 31.62500762939453 + ], + [ + -0.7089641690254211, + 0.020261192694306374, + 0.7049534320831299, + 25.97896385192871 + ], + [ + -0.019549619406461716, + -0.9997677206993103, + 0.009073661640286446, + -0.10660697519779205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2044, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_211734294", + "mask_path": "../../mask/hdr_right_02044.png" + }, + { + "file_path": "../../rgb/hdr_right_02045.png", + "transform_matrix": [ + [ + 0.7047193646430969, + -0.013478265143930912, + 0.7093582153320312, + 31.574970245361328 + ], + [ + -0.7090662717819214, + 0.021016012877225876, + 0.7048286199569702, + 26.03325653076172 + ], + [ + -0.024407748132944107, + -0.9996883273124695, + 0.005253406707197428, + -0.10940209031105042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2045, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_311735153", + "mask_path": "../../mask/hdr_right_02045.png" + }, + { + "file_path": "../../rgb/hdr_right_02046.png", + "transform_matrix": [ + [ + 0.6986557841300964, + -0.021805282682180405, + 0.7151256203651428, + 31.512300491333008 + ], + [ + -0.7148304581642151, + 0.020579254254698753, + 0.6989949345588684, + 26.11164665222168 + ], + [ + -0.029958534985780716, + -0.9995504021644592, + -0.001209265785291791, + -0.09875766187906265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2046, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_411734580", + "mask_path": "../../mask/hdr_right_02046.png" + }, + { + "file_path": "../../rgb/hdr_right_02047.png", + "transform_matrix": [ + [ + 0.688092052936554, + -0.02541949972510338, + 0.725178062915802, + 31.463287353515625 + ], + [ + -0.7249723672866821, + 0.01824074238538742, + 0.6885364055633545, + 26.186721801757812 + ], + [ + -0.03073003515601158, + -0.9995104074478149, + -0.0058771283365786076, + -0.08153337240219116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2047, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_511734962", + "mask_path": "../../mask/hdr_right_02047.png" + }, + { + "file_path": "../../rgb/hdr_right_02048.png", + "transform_matrix": [ + [ + 0.6792383193969727, + -0.022896677255630493, + 0.7335606217384338, + 31.421239852905273 + ], + [ + -0.7332078814506531, + 0.022785020992159843, + 0.6796227693557739, + 26.240131378173828 + ], + [ + -0.03227529674768448, + -0.9994781613349915, + -0.001311568426899612, + -0.08397475630044937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2048, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_611733675", + "mask_path": "../../mask/hdr_right_02048.png" + }, + { + "file_path": "../../rgb/hdr_right_02049.png", + "transform_matrix": [ + [ + 0.6752865314483643, + -0.01451121550053358, + 0.7374128699302673, + 31.357421875 + ], + [ + -0.7369523048400879, + 0.027154652401804924, + 0.675399124622345, + 26.31423568725586 + ], + [ + -0.02982505038380623, + -0.9995259046554565, + 0.007643093355000019, + -0.08578120917081833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2049, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_711735010", + "mask_path": "../../mask/hdr_right_02049.png" + }, + { + "file_path": "../../rgb/hdr_right_02050.png", + "transform_matrix": [ + [ + 0.6747201085090637, + -0.003981631714850664, + 0.7380629777908325, + 31.284412384033203 + ], + [ + -0.7377617359161377, + 0.02542717196047306, + 0.6745820641517639, + 26.38389778137207 + ], + [ + -0.02145279198884964, + -0.9996687173843384, + 0.014218728058040142, + -0.08512026816606522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2050, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_811735630", + "mask_path": "../../mask/hdr_right_02050.png" + }, + { + "file_path": "../../rgb/hdr_right_02051.png", + "transform_matrix": [ + [ + 0.6665182709693909, + -0.003054335480555892, + 0.7454824447631836, + 31.235084533691406 + ], + [ + -0.7452402114868164, + 0.023084480315446854, + 0.6663963794708252, + 26.439552307128906 + ], + [ + -0.019244471564888954, + -0.9997288584709167, + 0.013110015541315079, + -0.08795091509819031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2051, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777061_911734342", + "mask_path": "../../mask/hdr_right_02051.png" + }, + { + "file_path": "../../rgb/hdr_right_02052.png", + "transform_matrix": [ + [ + 0.6484724879264832, + -0.01039860863238573, + 0.7611671090126038, + 31.189844131469727 + ], + [ + -0.76096510887146, + 0.017920052632689476, + 0.6485452651977539, + 26.506549835205078 + ], + [ + -0.02038412168622017, + -0.999785304069519, + 0.003707680618390441, + -0.08352552354335785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2052, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_11734724", + "mask_path": "../../mask/hdr_right_02052.png" + }, + { + "file_path": "../../rgb/hdr_right_02053.png", + "transform_matrix": [ + [ + 0.6241729259490967, + -0.01639813743531704, + 0.7811141610145569, + 31.138324737548828 + ], + [ + -0.7809995412826538, + 0.01398598961532116, + 0.6243749856948853, + 26.5910587310791 + ], + [ + -0.021163243800401688, + -0.9997677206993103, + -0.004077261779457331, + -0.07438316196203232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2053, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_111734628", + "mask_path": "../../mask/hdr_right_02053.png" + }, + { + "file_path": "../../rgb/hdr_right_02054.png", + "transform_matrix": [ + [ + 0.5992133021354675, + -0.017071500420570374, + 0.8004072904586792, + 31.101865768432617 + ], + [ + -0.8002752661705017, + 0.015231549739837646, + 0.5994393825531006, + 26.661270141601562 + ], + [ + -0.02242477424442768, + -0.9997382760047913, + -0.004534952342510223, + -0.06698078662157059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2054, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_211733579", + "mask_path": "../../mask/hdr_right_02054.png" + }, + { + "file_path": "../../rgb/hdr_right_02055.png", + "transform_matrix": [ + [ + 0.5773485898971558, + -0.015097382478415966, + 0.8163582682609558, + 31.063337326049805 + ], + [ + -0.8161097764968872, + 0.020154042169451714, + 0.5775455236434937, + 26.73112678527832 + ], + [ + -0.025172343477606773, + -0.9996829628944397, + -0.0006852168007753789, + -0.0652877539396286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2055, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_311733007", + "mask_path": "../../mask/hdr_right_02055.png" + }, + { + "file_path": "../../rgb/hdr_right_02056.png", + "transform_matrix": [ + [ + 0.5673314332962036, + -0.010125914588570595, + 0.8234273195266724, + 31.002784729003906 + ], + [ + -0.8231217265129089, + 0.02290826477110386, + 0.5674026608467102, + 26.82381820678711 + ], + [ + -0.024608759209513664, + -0.9996862411499023, + 0.004661716055124998, + -0.06370453536510468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2056, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_411734342", + "mask_path": "../../mask/hdr_right_02056.png" + }, + { + "file_path": "../../rgb/hdr_right_02057.png", + "transform_matrix": [ + [ + 0.5749861598014832, + -0.00850051362067461, + 0.8181189894676208, + 30.944673538208008 + ], + [ + -0.8178505897521973, + 0.021665863692760468, + 0.5750225782394409, + 26.895973205566406 + ], + [ + -0.022613244131207466, + -0.9997291564941406, + 0.005505419336259365, + -0.06550957262516022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2057, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_511734008", + "mask_path": "../../mask/hdr_right_02057.png" + }, + { + "file_path": "../../rgb/hdr_right_02058.png", + "transform_matrix": [ + [ + 0.5842804312705994, + -0.01260766014456749, + 0.8114538788795471, + 30.896820068359375 + ], + [ + -0.8111612200737, + 0.02194659225642681, + 0.5844107270240784, + 26.955846786499023 + ], + [ + -0.025176702067255974, + -0.9996796250343323, + 0.002596118487417698, + -0.07054123282432556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2058, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_611736059", + "mask_path": "../../mask/hdr_right_02058.png" + }, + { + "file_path": "../../rgb/hdr_right_02059.png", + "transform_matrix": [ + [ + 0.594005823135376, + -0.022579336538910866, + 0.8041439056396484, + 30.84172821044922 + ], + [ + -0.803891122341156, + 0.020949911326169968, + 0.5944073796272278, + 27.036216735839844 + ], + [ + -0.030268067494034767, + -0.9995255470275879, + -0.005706959404051304, + -0.06435845792293549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2059, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_711735010", + "mask_path": "../../mask/hdr_right_02059.png" + }, + { + "file_path": "../../rgb/hdr_right_02060.png", + "transform_matrix": [ + [ + 0.6045262813568115, + -0.028943272307515144, + 0.7960593104362488, + 30.790687561035156 + ], + [ + -0.7959354519844055, + 0.01840890385210514, + 0.605101466178894, + 27.117618560791016 + ], + [ + -0.032168198376894, + -0.9994114637374878, + -0.011908314190804958, + -0.04653126001358032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2060, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_811735630", + "mask_path": "../../mask/hdr_right_02060.png" + }, + { + "file_path": "../../rgb/hdr_right_02061.png", + "transform_matrix": [ + [ + 0.6194508671760559, + -0.03134706988930702, + 0.7844093441963196, + 30.744802474975586 + ], + [ + -0.7842599749565125, + 0.019690388813614845, + 0.6201198101043701, + 27.169408798217773 + ], + [ + -0.034884262830019, + -0.9993146061897278, + -0.012387024238705635, + -0.04511750489473343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2061, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777062_911734104", + "mask_path": "../../mask/hdr_right_02061.png" + }, + { + "file_path": "../../rgb/hdr_right_02062.png", + "transform_matrix": [ + [ + 0.6390545964241028, + -0.02932082861661911, + 0.7686023116111755, + 30.68413734436035 + ], + [ + -0.7684464454650879, + 0.01873811148107052, + 0.6396397352218628, + 27.23592758178711 + ], + [ + -0.033156927675008774, + -0.9993943572044373, + -0.010556811466813087, + -0.050264760851860046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2062, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_11734008", + "mask_path": "../../mask/hdr_right_02062.png" + }, + { + "file_path": "../../rgb/hdr_right_02063.png", + "transform_matrix": [ + [ + 0.6648029088973999, + -0.02277042716741562, + 0.746671736240387, + 30.608783721923828 + ], + [ + -0.746648371219635, + 0.011221113614737988, + 0.6651244163513184, + 27.3084659576416 + ], + [ + -0.02352365478873253, + -0.9996777176856995, + -0.009541673585772514, + -0.04966449737548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2063, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_111734151", + "mask_path": "../../mask/hdr_right_02063.png" + }, + { + "file_path": "../../rgb/hdr_right_02064.png", + "transform_matrix": [ + [ + 0.69269198179245, + -0.02412637323141098, + 0.7208298444747925, + 30.544322967529297 + ], + [ + -0.7208860516548157, + 0.007856971584260464, + 0.6930091381072998, + 27.353700637817383 + ], + [ + -0.02238333597779274, + -0.9996780157089233, + -0.011949906125664711, + -0.04722169041633606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2064, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_211734294", + "mask_path": "../../mask/hdr_right_02064.png" + }, + { + "file_path": "../../rgb/hdr_right_02065.png", + "transform_matrix": [ + [ + 0.7156923413276672, + -0.03539813309907913, + 0.6975181102752686, + 30.484111785888672 + ], + [ + -0.6979172825813293, + 0.0014769850531592965, + 0.7161768078804016, + 27.402299880981445 + ], + [ + -0.02638154849410057, + -0.9993721842765808, + -0.023647906258702278, + -0.04722117632627487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2065, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_311734199", + "mask_path": "../../mask/hdr_right_02065.png" + }, + { + "file_path": "../../rgb/hdr_right_02066.png", + "transform_matrix": [ + [ + 0.7307788133621216, + -0.04894718527793884, + 0.680857241153717, + 30.411836624145508 + ], + [ + -0.6818624138832092, + -0.005540789104998112, + 0.7314594984054565, + 27.473400115966797 + ], + [ + -0.03203039616346359, + -0.9987859725952148, + -0.03742434084415436, + -0.03563220053911209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2066, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_411733865", + "mask_path": "../../mask/hdr_right_02066.png" + }, + { + "file_path": "../../rgb/hdr_right_02067.png", + "transform_matrix": [ + [ + 0.7413032054901123, + -0.056770022958517075, + 0.6687651872634888, + 30.345369338989258 + ], + [ + -0.6701893210411072, + -0.00875339936465025, + 0.7421386241912842, + 27.532817840576172 + ], + [ + -0.03627726063132286, + -0.9983488917350769, + -0.04453558847308159, + -0.019970841705799103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2067, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_511733770", + "mask_path": "../../mask/hdr_right_02067.png" + }, + { + "file_path": "../../rgb/hdr_right_02068.png", + "transform_matrix": [ + [ + 0.7548821568489075, + -0.061675310134887695, + 0.6529541015625, + 30.28115463256836 + ], + [ + -0.6544463038444519, + -0.005493215750902891, + 0.7560884952545166, + 27.574180603027344 + ], + [ + -0.043045178055763245, + -0.9980810880661011, + -0.04450991749763489, + -0.019117750227451324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2068, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_611733675", + "mask_path": "../../mask/hdr_right_02068.png" + }, + { + "file_path": "../../rgb/hdr_right_02069.png", + "transform_matrix": [ + [ + 0.7746122479438782, + -0.055647894740104675, + 0.6299834847450256, + 30.186416625976562 + ], + [ + -0.6310127377510071, + -0.001203862950205803, + 0.7757715582847595, + 27.639005661010742 + ], + [ + -0.04241163656115532, + -0.9984497427940369, + -0.036047063767910004, + -0.019648902118206024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2069, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_711733102", + "mask_path": "../../mask/hdr_right_02069.png" + }, + { + "file_path": "../../rgb/hdr_right_02070.png", + "transform_matrix": [ + [ + 0.7991732358932495, + -0.044035203754901886, + 0.5994856953620911, + 30.09636878967285 + ], + [ + -0.6001190543174744, + -0.001474220771342516, + 0.7999093532562256, + 27.68631362915039 + ], + [ + -0.03434039652347565, + -0.9990289211273193, + -0.02760453149676323, + -0.018774211406707764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2070, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_811733961", + "mask_path": "../../mask/hdr_right_02070.png" + }, + { + "file_path": "../../rgb/hdr_right_02071.png", + "transform_matrix": [ + [ + 0.8204411268234253, + -0.046601422131061554, + 0.5698286890983582, + 30.028099060058594 + ], + [ + -0.5705573558807373, + -0.0029065520502626896, + 0.8212526440620422, + 27.71634864807129 + ], + [ + -0.03661530837416649, + -0.9989092946052551, + -0.02897343784570694, + -0.019765660166740417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2071, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777063_911733865", + "mask_path": "../../mask/hdr_right_02071.png" + }, + { + "file_path": "../../rgb/hdr_right_02072.png", + "transform_matrix": [ + [ + 0.835311233997345, + -0.051631323993206024, + 0.5473476648330688, + 29.947650909423828 + ], + [ + -0.5484671592712402, + -0.009566335938870907, + 0.8361173272132874, + 27.762557983398438 + ], + [ + -0.03793373703956604, + -0.9986203908920288, + -0.03630895912647247, + -0.014534078538417816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2072, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_11734008", + "mask_path": "../../mask/hdr_right_02072.png" + }, + { + "file_path": "../../rgb/hdr_right_02073.png", + "transform_matrix": [ + [ + 0.845291018486023, + -0.05315323546528816, + 0.5316557288169861, + 29.864919662475586 + ], + [ + -0.5330578088760376, + -0.015914853662252426, + 0.8459292054176331, + 27.81056785583496 + ], + [ + -0.0365026518702507, + -0.9984596371650696, + -0.04178643971681595, + -0.0035971328616142273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2073, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_111733913", + "mask_path": "../../mask/hdr_right_02073.png" + }, + { + "file_path": "../../rgb/hdr_right_02074.png", + "transform_matrix": [ + [ + 0.8554420471191406, + -0.056802522391080856, + 0.5147742033004761, + 29.79800796508789 + ], + [ + -0.5163031816482544, + -0.015574470162391663, + 0.8562642931938171, + 27.844112396240234 + ], + [ + -0.04062063619494438, + -0.9982640147209167, + -0.042650382965803146, + 0.002465091645717621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2074, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_211734294", + "mask_path": "../../mask/hdr_right_02074.png" + }, + { + "file_path": "../../rgb/hdr_right_02075.png", + "transform_matrix": [ + [ + 0.868562638759613, + -0.05289875715970993, + 0.4927482008934021, + 29.70708465576172 + ], + [ + -0.4939725995063782, + -0.012407422997057438, + 0.8693889379501343, + 27.88717269897461 + ], + [ + -0.039875857532024384, + -0.9985227584838867, + -0.03690716251730919, + -0.0009064376354217529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2075, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_311734199", + "mask_path": "../../mask/hdr_right_02075.png" + }, + { + "file_path": "../../rgb/hdr_right_02076.png", + "transform_matrix": [ + [ + 0.8850052356719971, + -0.03993837162852287, + 0.46386489272117615, + 29.603872299194336 + ], + [ + -0.4645715653896332, + -0.01018025167286396, + 0.8854770064353943, + 27.931974411010742 + ], + [ + -0.030642250552773476, + -0.999150276184082, + -0.027563810348510742, + -0.002360887825489044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2076, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_411733388", + "mask_path": "../../mask/hdr_right_02076.png" + }, + { + "file_path": "../../rgb/hdr_right_02077.png", + "transform_matrix": [ + [ + 0.9009206295013428, + -0.04032149910926819, + 0.43210676312446594, + 29.52918815612793 + ], + [ + -0.43278101086616516, + -0.009389756247401237, + 0.9014501571655273, + 27.95334815979004 + ], + [ + -0.03229044750332832, + -0.9991427063941956, + -0.025909803807735443, + -0.0004189908504486084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2077, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_511734962", + "mask_path": "../../mask/hdr_right_02077.png" + }, + { + "file_path": "../../rgb/hdr_right_02078.png", + "transform_matrix": [ + [ + 0.9130420684814453, + -0.04702816531062126, + 0.4051450788974762, + 29.44640350341797 + ], + [ + -0.40632301568984985, + -0.018576180562376976, + 0.9135406613349915, + 27.982152938842773 + ], + [ + -0.03543609753251076, + -0.9987208247184753, + -0.036069463938474655, + 0.002587556838989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2078, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_611735343", + "mask_path": "../../mask/hdr_right_02078.png" + }, + { + "file_path": "../../rgb/hdr_right_02079.png", + "transform_matrix": [ + [ + 0.9201253056526184, + -0.05392079055309296, + 0.38789451122283936, + 29.349288940429688 + ], + [ + -0.38974034786224365, + -0.029042912647128105, + 0.9204667210578918, + 28.0274658203125 + ], + [ + -0.038366712629795074, + -0.9981227517127991, + -0.04773823171854019, + 0.012470930814743042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2079, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_711735248", + "mask_path": "../../mask/hdr_right_02079.png" + }, + { + "file_path": "../../rgb/hdr_right_02080.png", + "transform_matrix": [ + [ + 0.9243488907814026, + -0.05694993585348129, + 0.3772743046283722, + 29.27066421508789 + ], + [ + -0.37937480211257935, + -0.031788647174835205, + 0.9246969819068909, + 28.054054260253906 + ], + [ + -0.040668390691280365, + -0.9978708028793335, + -0.05098917707800865, + 0.022076718509197235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2080, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_811734914", + "mask_path": "../../mask/hdr_right_02080.png" + }, + { + "file_path": "../../rgb/hdr_right_02081.png", + "transform_matrix": [ + [ + 0.9288550019264221, + -0.054284777492284775, + 0.3664446771144867, + 29.187633514404297 + ], + [ + -0.36818021535873413, + -0.026097074151039124, + 0.929388165473938, + 28.076059341430664 + ], + [ + -0.04088849574327469, + -0.9981844425201416, + -0.04422697052359581, + 0.020816326141357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2081, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777064_911734819", + "mask_path": "../../mask/hdr_right_02081.png" + }, + { + "file_path": "../../rgb/hdr_right_02082.png", + "transform_matrix": [ + [ + 0.9347870945930481, + -0.04380841180682182, + 0.35249701142311096, + 29.07518768310547 + ], + [ + -0.35344722867012024, + -0.016009898856282234, + 0.9353174567222595, + 28.115095138549805 + ], + [ + -0.03533133119344711, + -0.9989116787910461, + -0.03044980578124523, + 0.019373565912246704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2082, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_11735439", + "mask_path": "../../mask/hdr_right_02082.png" + }, + { + "file_path": "../../rgb/hdr_right_02083.png", + "transform_matrix": [ + [ + 0.9422365427017212, + -0.03979289531707764, + 0.3325759470462799, + 28.985015869140625 + ], + [ + -0.33327725529670715, + -0.012330788187682629, + 0.9427483081817627, + 28.140928268432617 + ], + [ + -0.03341376781463623, + -0.9991318583488464, + -0.02488058991730213, + 0.021249093115329742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2083, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_111734628", + "mask_path": "../../mask/hdr_right_02083.png" + }, + { + "file_path": "../../rgb/hdr_right_02084.png", + "transform_matrix": [ + [ + 0.9478557109832764, + -0.04065155237913132, + 0.31609654426574707, + 28.910869598388672 + ], + [ + -0.3168247640132904, + -0.012761670164763927, + 0.9483982920646667, + 28.16027069091797 + ], + [ + -0.03451994061470032, + -0.9990918636322021, + -0.024975640699267387, + 0.022640995681285858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2084, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_211734294", + "mask_path": "../../mask/hdr_right_02084.png" + }, + { + "file_path": "../../rgb/hdr_right_02085.png", + "transform_matrix": [ + [ + 0.9503228068351746, + -0.042053647339344025, + 0.3084123432636261, + 28.816036224365234 + ], + [ + -0.3093641400337219, + -0.018239058554172516, + 0.950768768787384, + 28.19456672668457 + ], + [ + -0.03435814008116722, + -0.998948872089386, + -0.030342889949679375, + 0.026973754167556763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2085, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_311734914", + "mask_path": "../../mask/hdr_right_02085.png" + }, + { + "file_path": "../../rgb/hdr_right_02086.png", + "transform_matrix": [ + [ + 0.9512312412261963, + -0.04218912497162819, + 0.3055802285671234, + 28.72947120666504 + ], + [ + -0.3066490888595581, + -0.02158929593861103, + 0.9515778422355652, + 28.225322723388672 + ], + [ + -0.03354896977543831, + -0.9988763332366943, + -0.033473674207925797, + 0.03589623421430588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2086, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_411734342", + "mask_path": "../../mask/hdr_right_02086.png" + }, + { + "file_path": "../../rgb/hdr_right_02087.png", + "transform_matrix": [ + [ + 0.9531734585762024, + -0.04398461431264877, + 0.2992086112499237, + 28.65570640563965 + ], + [ + -0.3002125322818756, + -0.01817977987229824, + 0.9536991119384766, + 28.24993324279785 + ], + [ + -0.03650854155421257, + -0.9988667964935303, + -0.030533216893672943, + 0.03682015836238861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2087, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_511734485", + "mask_path": "../../mask/hdr_right_02087.png" + }, + { + "file_path": "../../rgb/hdr_right_02088.png", + "transform_matrix": [ + [ + 0.9571303129196167, + -0.03844663128256798, + 0.28709492087364197, + 28.554664611816406 + ], + [ + -0.2877048850059509, + -0.01128485519438982, + 0.9576526284217834, + 28.280784606933594 + ], + [ + -0.033578693866729736, + -0.9991970062255859, + -0.021862365305423737, + 0.03366314619779587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2088, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_611734867", + "mask_path": "../../mask/hdr_right_02088.png" + }, + { + "file_path": "../../rgb/hdr_right_02089.png", + "transform_matrix": [ + [ + 0.9632533192634583, + -0.026068536564707756, + 0.2673265337944031, + 28.454666137695312 + ], + [ + -0.2675933837890625, + -0.007287176791578531, + 0.963504433631897, + 28.303752899169922 + ], + [ + -0.02316909469664097, + -0.9996336102485657, + -0.013995167799293995, + 0.0312301367521286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2089, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_711735248", + "mask_path": "../../mask/hdr_right_02089.png" + }, + { + "file_path": "../../rgb/hdr_right_02090.png", + "transform_matrix": [ + [ + 0.96830815076828, + -0.02458568476140499, + 0.24854567646980286, + 28.37946891784668 + ], + [ + -0.24881215393543243, + -0.0084009300917387, + 0.9685153365135193, + 28.31683349609375 + ], + [ + -0.02172359824180603, + -0.999662458896637, + -0.014251908287405968, + 0.029371097683906555 + ], + [ + 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": "1727777065_811734914", + "mask_path": "../../mask/hdr_right_02090.png" + }, + { + "file_path": "../../rgb/hdr_right_02091.png", + "transform_matrix": [ + [ + 0.9711377620697021, + -0.02881638891994953, + 0.2367725372314453, + 28.28513526916504 + ], + [ + -0.23729833960533142, + -0.016398878768086433, + 0.9712983965873718, + 28.344072341918945 + ], + [ + -0.024106508120894432, + -0.9994502067565918, + -0.022763656452298164, + 0.03309239447116852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2091, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777065_911734819", + "mask_path": "../../mask/hdr_right_02091.png" + }, + { + "file_path": "../../rgb/hdr_right_02092.png", + "transform_matrix": [ + [ + 0.9715266823768616, + -0.03266661986708641, + 0.23466765880584717, + 28.18245506286621 + ], + [ + -0.23547899723052979, + -0.02366652712225914, + 0.9715912342071533, + 28.383729934692383 + ], + [ + -0.02618483453989029, + -0.999186098575592, + -0.03068496286869049, + 0.04356943815946579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2092, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_11735200", + "mask_path": "../../mask/hdr_right_02092.png" + }, + { + "file_path": "../../rgb/hdr_right_02093.png", + "transform_matrix": [ + [ + 0.9712643027305603, + -0.03351963683962822, + 0.23563164472579956, + 28.103832244873047 + ], + [ + -0.236466184258461, + -0.023549553006887436, + 0.9713543653488159, + 28.40261459350586 + ], + [ + -0.027010424062609673, + -0.9991605281829834, + -0.030799100175499916, + 0.047549135982990265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2093, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_111735105", + "mask_path": "../../mask/hdr_right_02093.png" + }, + { + "file_path": "../../rgb/hdr_right_02094.png", + "transform_matrix": [ + [ + 0.9717004895210266, + -0.031178193166851997, + 0.23414969444274902, + 28.011924743652344 + ], + [ + -0.23472632467746735, + -0.01628514938056469, + 0.9719250798225403, + 28.417377471923828 + ], + [ + -0.026489706709980965, + -0.9993812441825867, + -0.023142633959650993, + 0.04611387848854065 + ], + [ + 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": "1727777066_211735248", + "mask_path": "../../mask/hdr_right_02094.png" + }, + { + "file_path": "../../rgb/hdr_right_02095.png", + "transform_matrix": [ + [ + 0.973562479019165, + -0.023024141788482666, + 0.22725777328014374, + 27.902063369750977 + ], + [ + -0.2274625301361084, + -0.006671632640063763, + 0.9737641215324402, + 28.442129135131836 + ], + [ + -0.020903902128338814, + -0.9997125864028931, + -0.011732382699847221, + 0.04799162596464157 + ], + [ + 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": "1727777066_311734676", + "mask_path": "../../mask/hdr_right_02095.png" + }, + { + "file_path": "../../rgb/hdr_right_02096.png", + "transform_matrix": [ + [ + 0.9762282371520996, + -0.024079062044620514, + 0.21540318429470062, + 27.818086624145508 + ], + [ + -0.21561793982982635, + -0.006679903250187635, + 0.9764549136161804, + 28.45325469970703 + ], + [ + -0.02207324653863907, + -0.9996877908706665, + -0.011712992563843727, + 0.04713516682386398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2096, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_411734580", + "mask_path": "../../mask/hdr_right_02096.png" + }, + { + "file_path": "../../rgb/hdr_right_02097.png", + "transform_matrix": [ + [ + 0.9769474267959595, + -0.02912870980799198, + 0.21148349344730377, + 27.73593521118164 + ], + [ + -0.21189697086811066, + -0.011892489157617092, + 0.9772196412086487, + 28.467479705810547 + ], + [ + -0.025950081646442413, + -0.9995049238204956, + -0.017790623009204865, + 0.047291725873947144 + ], + [ + 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": "1727777066_511734485", + "mask_path": "../../mask/hdr_right_02097.png" + }, + { + "file_path": "../../rgb/hdr_right_02098.png", + "transform_matrix": [ + [ + 0.9749532341957092, + -0.0338243804872036, + 0.219822958111763, + 27.63569450378418 + ], + [ + -0.2205176204442978, + -0.018353646621108055, + 0.9752103090286255, + 28.493396759033203 + ], + [ + -0.028951331973075867, + -0.9992592334747314, + -0.025352826341986656, + 0.057500533759593964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2098, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_611734151", + "mask_path": "../../mask/hdr_right_02098.png" + }, + { + "file_path": "../../rgb/hdr_right_02099.png", + "transform_matrix": [ + [ + 0.9715457558631897, + -0.03617356717586517, + 0.23407341539859772, + 27.54942512512207 + ], + [ + -0.2348833829164505, + -0.019992325454950333, + 0.9718180298805237, + 28.51564598083496 + ], + [ + -0.030474448576569557, + -0.9991455078125, + -0.027920028194785118, + 0.06696441769599915 + ], + [ + 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": "1727777066_711734294", + "mask_path": "../../mask/hdr_right_02099.png" + }, + { + "file_path": "../../rgb/hdr_right_02100.png", + "transform_matrix": [ + [ + 0.968442976474762, + -0.03594178706407547, + 0.24663028120994568, + 27.46746826171875 + ], + [ + -0.24719621241092682, + -0.01219112891703844, + 0.9688887596130371, + 28.535324096679688 + ], + [ + -0.03181689232587814, + -0.9992795586585999, + -0.02069109119474888, + 0.06489884853363037 + ], + [ + 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": "1727777066_811734676", + "mask_path": "../../mask/hdr_right_02100.png" + }, + { + "file_path": "../../rgb/hdr_right_02101.png", + "transform_matrix": [ + [ + 0.9672002792358398, + -0.030318154022097588, + 0.2521989941596985, + 27.350830078125 + ], + [ + -0.25234735012054443, + -0.0011103725992143154, + 0.9676360487937927, + 28.56540298461914 + ], + [ + -0.029056908562779427, + -0.9995396733283997, + -0.00872465968132019, + 0.0642608180642128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2101, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777066_911735773", + "mask_path": "../../mask/hdr_right_02101.png" + }, + { + "file_path": "../../rgb/hdr_right_02102.png", + "transform_matrix": [ + [ + 0.9686176776885986, + -0.02483440190553665, + 0.24731186032295227, + 27.2513427734375 + ], + [ + -0.24733757972717285, + 0.0020803369116038084, + 0.9689271450042725, + 28.58470344543457 + ], + [ + -0.024577219039201736, + -0.9996894001960754, + -0.004127430263906717, + 0.06310608237981796 + ], + [ + 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": "1727777067_11734962", + "mask_path": "../../mask/hdr_right_02102.png" + }, + { + "file_path": "../../rgb/hdr_right_02103.png", + "transform_matrix": [ + [ + 0.969046413898468, + -0.026871101930737495, + 0.24541184306144714, + 27.175832748413086 + ], + [ + -0.24546533823013306, + 0.001339360955171287, + 0.9694044589996338, + 28.59939193725586 + ], + [ + -0.026377661153674126, + -0.999638020992279, + -0.005298023112118244, + 0.05799879878759384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2103, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_111733913", + "mask_path": "../../mask/hdr_right_02103.png" + }, + { + "file_path": "../../rgb/hdr_right_02104.png", + "transform_matrix": [ + [ + 0.9673668146133423, + -0.033328622579574585, + 0.2511788308620453, + 27.07599639892578 + ], + [ + -0.2514978051185608, + -0.00568422069773078, + 0.9678412079811096, + 28.63036346435547 + ], + [ + -0.030829058960080147, + -0.9994283318519592, + -0.013880805112421513, + 0.06561671942472458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2104, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_211735963", + "mask_path": "../../mask/hdr_right_02104.png" + }, + { + "file_path": "../../rgb/hdr_right_02105.png", + "transform_matrix": [ + [ + 0.9639163613319397, + -0.03752028942108154, + 0.2635478973388672, + 26.981876373291016 + ], + [ + -0.26407843828201294, + -0.009879614226520061, + 0.9644506573677063, + 28.663278579711914 + ], + [ + -0.033582717180252075, + -0.9992470741271973, + -0.019431425258517265, + 0.08143734186887741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2105, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_311734676", + "mask_path": "../../mask/hdr_right_02105.png" + }, + { + "file_path": "../../rgb/hdr_right_02106.png", + "transform_matrix": [ + [ + 0.96083664894104, + -0.04058416932821274, + 0.27412742376327515, + 26.912622451782227 + ], + [ + -0.27457359433174133, + -0.005753959529101849, + 0.9615488648414612, + 28.68363380432129 + ], + [ + -0.037446342408657074, + -0.999159574508667, + -0.016671961173415184, + 0.08752866089344025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2106, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_411734580", + "mask_path": "../../mask/hdr_right_02106.png" + }, + { + "file_path": "../../rgb/hdr_right_02107.png", + "transform_matrix": [ + [ + 0.9598715305328369, + -0.03518133983016014, + 0.2782247066497803, + 26.820995330810547 + ], + [ + -0.27829065918922424, + 0.0031054995488375425, + 0.960491955280304, + 28.709613800048828 + ], + [ + -0.03465542569756508, + -0.999376118183136, + -0.006809762213379145, + 0.08785409480333328 + ], + [ + 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": "1727777067_511734247", + "mask_path": "../../mask/hdr_right_02107.png" + }, + { + "file_path": "../../rgb/hdr_right_02108.png", + "transform_matrix": [ + [ + 0.9612297415733337, + -0.020993098616600037, + 0.27494871616363525, + 26.721744537353516 + ], + [ + -0.274800568819046, + 0.009699034504592419, + 0.9614523649215698, + 28.733320236206055 + ], + [ + -0.022850599139928818, + -0.9997325539588928, + 0.003554082941263914, + 0.08408470451831818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2108, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_611733675", + "mask_path": "../../mask/hdr_right_02108.png" + }, + { + "file_path": "../../rgb/hdr_right_02109.png", + "transform_matrix": [ + [ + 0.9621049761772156, + -0.01943078264594078, + 0.2719861567020416, + 26.652082443237305 + ], + [ + -0.2718314230442047, + 0.01025468111038208, + 0.9622902870178223, + 28.748472213745117 + ], + [ + -0.02148718573153019, + -0.9997586011886597, + 0.004584178328514099, + 0.07987292855978012 + ], + [ + 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": "1727777067_711735010", + "mask_path": "../../mask/hdr_right_02109.png" + }, + { + "file_path": "../../rgb/hdr_right_02110.png", + "transform_matrix": [ + [ + 0.9605985283851624, + -0.02442873641848564, + 0.276864230632782, + 26.57004737854004 + ], + [ + -0.27691900730133057, + 0.0011767677497118711, + 0.9608925580978394, + 28.77782440185547 + ], + [ + -0.023799195885658264, + -0.9997009038925171, + -0.00563438143581152, + 0.08061523735523224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2110, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777067_811734914", + "mask_path": "../../mask/hdr_right_02110.png" + }, + { + "file_path": "../../rgb/hdr_right_02111.png", + "transform_matrix": [ + [ + 0.9570208191871643, + -0.028647342696785927, + 0.2886009216308594, + 26.474960327148438 + ], + [ + -0.2889724373817444, + -0.009722118265926838, + 0.9572881460189819, + 28.81916618347168 + ], + [ + -0.02461794763803482, + -0.9995422959327698, + -0.017582567408680916, + 0.08877731114625931 + ], + [ + 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": "1727777067_911734342", + "mask_path": "../../mask/hdr_right_02111.png" + }, + { + "file_path": "../../rgb/hdr_right_02112.png", + "transform_matrix": [ + [ + 0.9529963731765747, + -0.03018207661807537, + 0.30147483944892883, + 26.397897720336914 + ], + [ + -0.3019189238548279, + -0.011326152831315994, + 0.953266441822052, + 28.84784698486328 + ], + [ + -0.02535700984299183, + -0.9994802474975586, + -0.01990632154047489, + 0.09750204533338547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2112, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_11735439", + "mask_path": "../../mask/hdr_right_02112.png" + }, + { + "file_path": "../../rgb/hdr_right_02113.png", + "transform_matrix": [ + [ + 0.9502937197685242, + -0.02590661309659481, + 0.31027549505233765, + 26.31656265258789 + ], + [ + -0.31040939688682556, + -0.001217110431753099, + 0.9506021738052368, + 28.87616729736328 + ], + [ + -0.02424924448132515, + -0.9996635913848877, + -0.009198269806802273, + 0.09740831702947617 + ], + [ + 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": "1727777068_111735343", + "mask_path": "../../mask/hdr_right_02113.png" + }, + { + "file_path": "../../rgb/hdr_right_02114.png", + "transform_matrix": [ + [ + 0.9502372741699219, + -0.015549233183264732, + 0.3111388087272644, + 26.207469940185547 + ], + [ + -0.3110074996948242, + 0.010310115292668343, + 0.9503515958786011, + 28.914106369018555 + ], + [ + -0.017985112965106964, + -0.9998259544372559, + 0.004961126483976841, + 0.09644507616758347 + ], + [ + 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": "1727777068_211735010", + "mask_path": "../../mask/hdr_right_02114.png" + }, + { + "file_path": "../../rgb/hdr_right_02115.png", + "transform_matrix": [ + [ + 0.9522784948348999, + -0.015275662764906883, + 0.30484816431999207, + 26.123748779296875 + ], + [ + -0.3046717345714569, + 0.012839199975132942, + 0.9523709416389465, + 28.936939239501953 + ], + [ + -0.018462102860212326, + -0.9998008608818054, + 0.0075724306516349316, + 0.0920083075761795 + ], + [ + 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": "1727777068_311734676", + "mask_path": "../../mask/hdr_right_02115.png" + }, + { + "file_path": "../../rgb/hdr_right_02116.png", + "transform_matrix": [ + [ + 0.9526483416557312, + -0.020194709300994873, + 0.3034028708934784, + 26.050031661987305 + ], + [ + -0.3031267821788788, + 0.015630412846803665, + 0.9528220891952515, + 28.964065551757812 + ], + [ + -0.023984277620911598, + -0.9996739029884338, + 0.008768729865550995, + 0.08813372254371643 + ], + [ + 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": "1727777068_411734580", + "mask_path": "../../mask/hdr_right_02116.png" + }, + { + "file_path": "../../rgb/hdr_right_02117.png", + "transform_matrix": [ + [ + 0.9507583379745483, + -0.028913436457514763, + 0.3085815906524658, + 25.949724197387695 + ], + [ + -0.3083263039588928, + 0.013016540557146072, + 0.9511916041374207, + 29.00898551940918 + ], + [ + -0.031518884003162384, + -0.9994972348213196, + 0.003460809588432312, + 0.09881319105625153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2117, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_511734724", + "mask_path": "../../mask/hdr_right_02117.png" + }, + { + "file_path": "../../rgb/hdr_right_02118.png", + "transform_matrix": [ + [ + 0.9472184777259827, + -0.03287559002637863, + 0.3188987076282501, + 25.85820198059082 + ], + [ + -0.3187955915927887, + 0.008470949716866016, + 0.9477856159210205, + 29.048858642578125 + ], + [ + -0.03386038914322853, + -0.9994235038757324, + -0.002456755144521594, + 0.11374028772115707 + ], + [ + 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": "1727777068_611735105", + "mask_path": "../../mask/hdr_right_02118.png" + }, + { + "file_path": "../../rgb/hdr_right_02119.png", + "transform_matrix": [ + [ + 0.9443538784980774, + -0.03385389223694801, + 0.32718443870544434, + 25.79058074951172 + ], + [ + -0.326933354139328, + 0.012859493494033813, + 0.9449599385261536, + 29.070419311523438 + ], + [ + -0.03619799390435219, + -0.9993441104888916, + 0.001075943000614643, + 0.11279958486557007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2119, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_711735010", + "mask_path": "../../mask/hdr_right_02119.png" + }, + { + "file_path": "../../rgb/hdr_right_02120.png", + "transform_matrix": [ + [ + 0.9438366293907166, + -0.02672041393816471, + 0.3293303847312927, + 25.692821502685547 + ], + [ + -0.32887423038482666, + 0.02009558118879795, + 0.9441600441932678, + 29.101856231689453 + ], + [ + -0.03184642642736435, + -0.9994409680366516, + 0.010179289616644382, + 0.11193376779556274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2120, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777068_811734437", + "mask_path": "../../mask/hdr_right_02120.png" + }, + { + "file_path": "../../rgb/hdr_right_02121.png", + "transform_matrix": [ + [ + 0.9460067749023438, + -0.0136600686237216, + 0.3238590359687805, + 25.598011016845703 + ], + [ + -0.32345330715179443, + 0.025545816868543625, + 0.945899248123169, + 29.127483367919922 + ], + [ + -0.02119429036974907, + -0.9995803833007812, + 0.01974811777472496, + 0.10952072590589523 + ], + [ + 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": "1727777068_911734580", + "mask_path": "../../mask/hdr_right_02121.png" + }, + { + "file_path": "../../rgb/hdr_right_02122.png", + "transform_matrix": [ + [ + 0.9472620487213135, + -0.013058704324066639, + 0.3201938569545746, + 25.52588653564453 + ], + [ + -0.3197612166404724, + 0.027432475239038467, + 0.9471009969711304, + 29.145483016967773 + ], + [ + -0.021151622757315636, + -0.9995383024215698, + 0.021810075268149376, + 0.1060621589422226 + ], + [ + 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": "1727777069_11734247", + "mask_path": "../../mask/hdr_right_02122.png" + }, + { + "file_path": "../../rgb/hdr_right_02123.png", + "transform_matrix": [ + [ + 0.9461454749107361, + -0.01891218312084675, + 0.3231889307498932, + 25.438560485839844 + ], + [ + -0.3227340877056122, + 0.023605691269040108, + 0.9461953043937683, + 29.177778244018555 + ], + [ + -0.02552371472120285, + -0.9995424151420593, + 0.016230812296271324, + 0.10696184635162354 + ], + [ + 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": "1727777069_111734390", + "mask_path": "../../mask/hdr_right_02123.png" + }, + { + "file_path": "../../rgb/hdr_right_02124.png", + "transform_matrix": [ + [ + 0.9425742626190186, + -0.02660071849822998, + 0.33293575048446655, + 25.345788955688477 + ], + [ + -0.33254775404930115, + 0.018006324768066406, + 0.9429145455360413, + 29.222684860229492 + ], + [ + -0.031077148392796516, + -0.9994838833808899, + 0.00812628585845232, + 0.11943691223859787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2124, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_211735248", + "mask_path": "../../mask/hdr_right_02124.png" + }, + { + "file_path": "../../rgb/hdr_right_02125.png", + "transform_matrix": [ + [ + 0.9384333491325378, + -0.02972639538347721, + 0.34417903423309326, + 25.269634246826172 + ], + [ + -0.3438554108142853, + 0.015549023635685444, + 0.9388939142227173, + 29.252403259277344 + ], + [ + -0.033261582255363464, + -0.9994370937347412, + 0.004370137583464384, + 0.13137781620025635 + ], + [ + 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": "1727777069_311734437", + "mask_path": "../../mask/hdr_right_02125.png" + }, + { + "file_path": "../../rgb/hdr_right_02126.png", + "transform_matrix": [ + [ + 0.9356724619865417, + -0.02853679098188877, + 0.35171404480934143, + 25.19078826904297 + ], + [ + -0.35126617550849915, + 0.01958841271698475, + 0.9360706806182861, + 29.281572341918945 + ], + [ + -0.033601973205804825, + -0.999400794506073, + 0.008304326795041561, + 0.12661340832710266 + ], + [ + 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": "1727777069_411734342", + "mask_path": "../../mask/hdr_right_02126.png" + }, + { + "file_path": "../../rgb/hdr_right_02127.png", + "transform_matrix": [ + [ + 0.9355912804603577, + -0.0226023830473423, + 0.3523610532283783, + 25.085464477539062 + ], + [ + -0.35185521841049194, + 0.023540042340755463, + 0.9357584714889526, + 29.318723678588867 + ], + [ + -0.02944495901465416, + -0.9994673132896423, + 0.0140710873529315, + 0.12827041745185852 + ], + [ + 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": "1727777069_511735439", + "mask_path": "../../mask/hdr_right_02127.png" + }, + { + "file_path": "../../rgb/hdr_right_02128.png", + "transform_matrix": [ + [ + 0.9379657506942749, + -0.020456934347748756, + 0.3461240828037262, + 25.0048770904541 + ], + [ + -0.3457261919975281, + 0.020651983097195625, + 0.9381081461906433, + 29.34019660949707 + ], + [ + -0.026338966563344002, + -0.9995774030685425, + 0.01229835394769907, + 0.1281673163175583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2128, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_611734151", + "mask_path": "../../mask/hdr_right_02128.png" + }, + { + "file_path": "../../rgb/hdr_right_02129.png", + "transform_matrix": [ + [ + 0.9384279251098633, + -0.024318868294358253, + 0.3446181118488312, + 24.9340763092041 + ], + [ + -0.34435898065567017, + 0.01427217572927475, + 0.9387296438217163, + 29.366619110107422 + ], + [ + -0.027747290208935738, + -0.9996023774147034, + 0.0050189862959086895, + 0.12590086460113525 + ], + [ + 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": "1727777069_711735010", + "mask_path": "../../mask/hdr_right_02129.png" + }, + { + "file_path": "../../rgb/hdr_right_02130.png", + "transform_matrix": [ + [ + 0.9356731176376343, + -0.029711026698350906, + 0.35161519050598145, + 24.841154098510742 + ], + [ + -0.3516092896461487, + 0.005594164133071899, + 0.936130166053772, + 29.41033935546875 + ], + [ + -0.029780380427837372, + -0.9995428919792175, + -0.005212366580963135, + 0.13240541517734528 + ], + [ + 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": "1727777069_811733961", + "mask_path": "../../mask/hdr_right_02130.png" + }, + { + "file_path": "../../rgb/hdr_right_02131.png", + "transform_matrix": [ + [ + 0.9309000372886658, + -0.03124438039958477, + 0.3639352023601532, + 24.759319305419922 + ], + [ + -0.36410802602767944, + 0.0001706150796962902, + 0.9313567280769348, + 29.451053619384766 + ], + [ + -0.029161756858229637, + -0.99951171875, + -0.011217505671083927, + 0.14572793245315552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "camera_frame_id": 2131, + "fl_x": "555.8261391609695", + "fl_y": "555.4888612615605", + "cx": "946.9470551242445", + "cy": "638.6457946722393", + "w": "1920", + "h": "1280", + "k1": "0", + "k2": "0", + "p1": "0", + "p2": "0", + "timestamp": "1727777069_911734342", + "mask_path": "../../mask/hdr_right_02131.png" + } + ], + "ply_file_path": "./pcd.ply" +} \ No newline at end of file