parse_depth.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import os\n",
    "import matplotlib.pyplot as plt\n",
    "import PIL.Image as pil\n",
    "import tensorflow as tf"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 83,
   "metadata": {},
   "outputs": [],
   "source": [
    "depth_gt = np.load(\"./models/gt_data_kitti/gt_depth.npy\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 84,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(697,)"
      ]
     },
     "execution_count": 84,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "depth_gt.shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 85,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(375, 1242)\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f6ef809e358>"
      ]
     },
     "execution_count": 85,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "print(depth_gt[0].shape)\n",
    "plt.imshow(depth_gt[200])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [],
   "source": [
    "pred_depth = np.load(\"./models/foobar/model-800/output/model.npy\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(128, 416)"
      ]
     },
     "execution_count": 26,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "pred_depth[0].shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f53802c08d0>"
      ]
     },
     "execution_count": 27,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.imshow(pred_depth[0])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [],
   "source": [
    "fil = np.load(\"/mnt/carla_data/npy_files/2.npy\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "dict_keys([724, 725])"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "fil.item().keys()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 50,
   "metadata": {},
   "outputs": [],
   "source": [
    "a = np.load(\"/mnt/carla_data/npy_files/13.npy\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 51,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "dict_keys([735, 736])"
      ]
     },
     "execution_count": 51,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "a.item().keys()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 52,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "487_rgb\n",
      "486_depth\n",
      "488_ss\n",
      "491_rgb\n",
      "490_depth\n",
      "492_ss\n",
      "495_rgb\n",
      "494_depth\n",
      "496_ss\n",
      "499_rgb\n",
      "498_depth\n",
      "500_ss\n",
      "503_rgb\n",
      "502_depth\n",
      "504_ss\n",
      "507_rgb\n",
      "506_depth\n",
      "508_ss\n",
      "511_rgb\n",
      "510_depth\n",
      "512_ss\n",
      "515_rgb\n",
      "514_depth\n",
      "516_ss\n",
      "519_rgb\n",
      "518_depth\n",
      "520_ss\n",
      "523_rgb\n",
      "522_depth\n",
      "524_ss\n",
      "527_rgb\n",
      "526_depth\n",
      "528_ss\n",
      "531_rgb\n",
      "530_depth\n",
      "532_ss\n",
      "535_rgb\n",
      "534_depth\n",
      "536_ss\n",
      "539_rgb\n",
      "538_depth\n",
      "540_ss\n",
      "543_rgb\n",
      "542_depth\n",
      "544_ss\n",
      "547_rgb\n",
      "546_depth\n",
      "548_ss\n",
      "551_rgb\n",
      "550_depth\n",
      "552_ss\n",
      "555_rgb\n",
      "554_depth\n",
      "556_ss\n",
      "559_rgb\n",
      "558_depth\n",
      "560_ss\n",
      "563_rgb\n",
      "562_depth\n",
      "564_ss\n",
      "567_rgb\n",
      "566_depth\n",
      "568_ss\n",
      "571_rgb\n",
      "570_depth\n",
      "572_ss\n",
      "575_rgb\n",
      "574_depth\n",
      "576_ss\n",
      "579_rgb\n",
      "578_depth\n",
      "580_ss\n",
      "583_rgb\n",
      "582_depth\n",
      "584_ss\n",
      "587_rgb\n",
      "586_depth\n",
      "588_ss\n",
      "591_rgb\n",
      "590_depth\n",
      "592_ss\n",
      "595_rgb\n",
      "594_depth\n",
      "596_ss\n",
      "599_rgb\n",
      "598_depth\n",
      "600_ss\n",
      "603_rgb\n",
      "602_depth\n",
      "604_ss\n",
      "607_rgb\n",
      "606_depth\n",
      "608_ss\n",
      "611_rgb\n",
      "610_depth\n",
      "612_ss\n",
      "615_rgb\n",
      "614_depth\n",
      "616_ss\n",
      "619_rgb\n",
      "618_depth\n",
      "620_ss\n",
      "623_rgb\n",
      "622_depth\n",
      "624_ss\n",
      "627_rgb\n",
      "626_depth\n",
      "628_ss\n",
      "631_rgb\n",
      "630_depth\n",
      "632_ss\n",
      "635_rgb\n",
      "634_depth\n",
      "636_ss\n",
      "639_rgb\n",
      "638_depth\n",
      "640_ss\n",
      "643_rgb\n",
      "642_depth\n",
      "644_ss\n",
      "647_rgb\n",
      "646_depth\n",
      "648_ss\n",
      "651_rgb\n",
      "650_depth\n",
      "652_ss\n",
      "655_rgb\n",
      "654_depth\n",
      "656_ss\n",
      "659_rgb\n",
      "658_depth\n",
      "660_ss\n",
      "663_rgb\n",
      "662_depth\n",
      "664_ss\n",
      "667_rgb\n",
      "666_depth\n",
      "668_ss\n",
      "671_rgb\n",
      "670_depth\n",
      "672_ss\n",
      "675_rgb\n",
      "674_depth\n",
      "676_ss\n",
      "679_rgb\n",
      "678_depth\n",
      "680_ss\n",
      "683_rgb\n",
      "682_depth\n",
      "684_ss\n",
      "687_rgb\n",
      "686_depth\n",
      "485_vehicle_transform\n",
      "487_camera_transform\n",
      "486_camera_transform\n",
      "488_camera_transform\n",
      "489_vehicle_transform\n",
      "491_camera_transform\n",
      "490_camera_transform\n",
      "492_camera_transform\n",
      "493_vehicle_transform\n",
      "495_camera_transform\n",
      "494_camera_transform\n",
      "496_camera_transform\n",
      "497_vehicle_transform\n",
      "499_camera_transform\n",
      "498_camera_transform\n",
      "500_camera_transform\n",
      "501_vehicle_transform\n",
      "503_camera_transform\n",
      "502_camera_transform\n",
      "504_camera_transform\n",
      "505_vehicle_transform\n",
      "507_camera_transform\n",
      "506_camera_transform\n",
      "508_camera_transform\n",
      "509_vehicle_transform\n",
      "511_camera_transform\n",
      "510_camera_transform\n",
      "512_camera_transform\n",
      "513_vehicle_transform\n",
      "515_camera_transform\n",
      "514_camera_transform\n",
      "516_camera_transform\n",
      "517_vehicle_transform\n",
      "519_camera_transform\n",
      "518_camera_transform\n",
      "520_camera_transform\n",
      "521_vehicle_transform\n",
      "523_camera_transform\n",
      "522_camera_transform\n",
      "524_camera_transform\n",
      "525_vehicle_transform\n",
      "527_camera_transform\n",
      "526_camera_transform\n",
      "528_camera_transform\n",
      "529_vehicle_transform\n",
      "531_camera_transform\n",
      "530_camera_transform\n",
      "532_camera_transform\n",
      "533_vehicle_transform\n",
      "535_camera_transform\n",
      "534_camera_transform\n",
      "536_camera_transform\n",
      "537_vehicle_transform\n",
      "539_camera_transform\n",
      "538_camera_transform\n",
      "540_camera_transform\n",
      "541_vehicle_transform\n",
      "543_camera_transform\n",
      "542_camera_transform\n",
      "544_camera_transform\n",
      "545_vehicle_transform\n",
      "547_camera_transform\n",
      "546_camera_transform\n",
      "548_camera_transform\n",
      "549_vehicle_transform\n",
      "551_camera_transform\n",
      "550_camera_transform\n",
      "552_camera_transform\n",
      "553_vehicle_transform\n",
      "555_camera_transform\n",
      "554_camera_transform\n",
      "556_camera_transform\n",
      "557_vehicle_transform\n",
      "559_camera_transform\n",
      "558_camera_transform\n",
      "560_camera_transform\n",
      "561_vehicle_transform\n",
      "563_camera_transform\n",
      "562_camera_transform\n",
      "564_camera_transform\n",
      "565_vehicle_transform\n",
      "567_camera_transform\n",
      "566_camera_transform\n",
      "568_camera_transform\n",
      "569_vehicle_transform\n",
      "571_camera_transform\n",
      "570_camera_transform\n",
      "572_camera_transform\n",
      "573_vehicle_transform\n",
      "575_camera_transform\n",
      "574_camera_transform\n",
      "576_camera_transform\n",
      "577_vehicle_transform\n",
      "579_camera_transform\n",
      "578_camera_transform\n",
      "580_camera_transform\n",
      "581_vehicle_transform\n",
      "583_camera_transform\n",
      "582_camera_transform\n",
      "584_camera_transform\n",
      "585_vehicle_transform\n",
      "587_camera_transform\n",
      "586_camera_transform\n",
      "588_camera_transform\n",
      "589_vehicle_transform\n",
      "591_camera_transform\n",
      "590_camera_transform\n",
      "592_camera_transform\n",
      "593_vehicle_transform\n",
      "595_camera_transform\n",
      "594_camera_transform\n",
      "596_camera_transform\n",
      "597_vehicle_transform\n",
      "599_camera_transform\n",
      "598_camera_transform\n",
      "600_camera_transform\n",
      "601_vehicle_transform\n",
      "603_camera_transform\n",
      "602_camera_transform\n",
      "604_camera_transform\n",
      "605_vehicle_transform\n",
      "607_camera_transform\n",
      "606_camera_transform\n",
      "608_camera_transform\n",
      "609_vehicle_transform\n",
      "611_camera_transform\n",
      "610_camera_transform\n",
      "612_camera_transform\n",
      "613_vehicle_transform\n",
      "615_camera_transform\n",
      "614_camera_transform\n",
      "616_camera_transform\n",
      "617_vehicle_transform\n",
      "619_camera_transform\n",
      "618_camera_transform\n",
      "620_camera_transform\n",
      "621_vehicle_transform\n",
      "623_camera_transform\n",
      "622_camera_transform\n",
      "624_camera_transform\n",
      "625_vehicle_transform\n",
      "627_camera_transform\n",
      "626_camera_transform\n",
      "628_camera_transform\n",
      "629_vehicle_transform\n",
      "631_camera_transform\n",
      "630_camera_transform\n",
      "632_camera_transform\n",
      "633_vehicle_transform\n",
      "635_camera_transform\n",
      "634_camera_transform\n",
      "636_camera_transform\n",
      "637_vehicle_transform\n",
      "639_camera_transform\n",
      "638_camera_transform\n",
      "640_camera_transform\n",
      "641_vehicle_transform\n",
      "643_camera_transform\n",
      "642_camera_transform\n",
      "644_camera_transform\n",
      "645_vehicle_transform\n",
      "647_camera_transform\n",
      "646_camera_transform\n",
      "648_camera_transform\n",
      "649_vehicle_transform\n",
      "651_camera_transform\n",
      "650_camera_transform\n",
      "652_camera_transform\n",
      "653_vehicle_transform\n",
      "655_camera_transform\n",
      "654_camera_transform\n",
      "656_camera_transform\n",
      "657_vehicle_transform\n",
      "659_camera_transform\n",
      "658_camera_transform\n",
      "660_camera_transform\n",
      "661_vehicle_transform\n",
      "663_camera_transform\n",
      "662_camera_transform\n",
      "664_camera_transform\n",
      "665_vehicle_transform\n",
      "667_camera_transform\n",
      "666_camera_transform\n",
      "668_camera_transform\n",
      "669_vehicle_transform\n",
      "671_camera_transform\n",
      "670_camera_transform\n",
      "672_camera_transform\n",
      "673_vehicle_transform\n",
      "675_camera_transform\n",
      "674_camera_transform\n",
      "676_camera_transform\n",
      "677_vehicle_transform\n",
      "679_camera_transform\n",
      "678_camera_transform\n",
      "680_camera_transform\n",
      "681_vehicle_transform\n",
      "683_camera_transform\n",
      "682_camera_transform\n",
      "684_camera_transform\n",
      "685_vehicle_transform\n",
      "687_camera_transform\n",
      "686_camera_transform\n",
      "688_camera_transform\n",
      "688_ss\n",
      "485_vehicle_transform\n",
      "487_camera_transform\n",
      "486_camera_transform\n",
      "488_camera_transform\n",
      "489_vehicle_transform\n",
      "491_camera_transform\n",
      "490_camera_transform\n",
      "492_camera_transform\n",
      "493_vehicle_transform\n",
      "495_camera_transform\n",
      "494_camera_transform\n",
      "496_camera_transform\n",
      "497_vehicle_transform\n",
      "499_camera_transform\n",
      "498_camera_transform\n",
      "500_camera_transform\n",
      "501_vehicle_transform\n",
      "503_camera_transform\n",
      "502_camera_transform\n",
      "504_camera_transform\n",
      "505_vehicle_transform\n",
      "507_camera_transform\n",
      "506_camera_transform\n",
      "508_camera_transform\n",
      "509_vehicle_transform\n",
      "511_camera_transform\n",
      "510_camera_transform\n",
      "512_camera_transform\n",
      "513_vehicle_transform\n",
      "515_camera_transform\n",
      "514_camera_transform\n",
      "516_camera_transform\n",
      "517_vehicle_transform\n",
      "519_camera_transform\n",
      "518_camera_transform\n",
      "520_camera_transform\n",
      "521_vehicle_transform\n",
      "523_camera_transform\n",
      "522_camera_transform\n",
      "524_camera_transform\n",
      "525_vehicle_transform\n",
      "527_camera_transform\n",
      "526_camera_transform\n",
      "528_camera_transform\n",
      "529_vehicle_transform\n",
      "531_camera_transform\n",
      "530_camera_transform\n",
      "532_camera_transform\n",
      "533_vehicle_transform\n",
      "535_camera_transform\n",
      "534_camera_transform\n",
      "536_camera_transform\n",
      "537_vehicle_transform\n",
      "539_camera_transform\n",
      "538_camera_transform\n",
      "540_camera_transform\n",
      "541_vehicle_transform\n",
      "543_camera_transform\n",
      "542_camera_transform\n",
      "544_camera_transform\n",
      "545_vehicle_transform\n",
      "547_camera_transform\n",
      "546_camera_transform\n",
      "548_camera_transform\n",
      "549_vehicle_transform\n",
      "551_camera_transform\n",
      "550_camera_transform\n",
      "552_camera_transform\n",
      "553_vehicle_transform\n",
      "555_camera_transform\n",
      "554_camera_transform\n",
      "556_camera_transform\n",
      "557_vehicle_transform\n",
      "559_camera_transform\n",
      "558_camera_transform\n",
      "560_camera_transform\n",
      "561_vehicle_transform\n",
      "563_camera_transform\n",
      "562_camera_transform\n",
      "564_camera_transform\n",
      "565_vehicle_transform\n",
      "567_camera_transform\n",
      "566_camera_transform\n",
      "568_camera_transform\n",
      "569_vehicle_transform\n",
      "571_camera_transform\n",
      "570_camera_transform\n",
      "572_camera_transform\n",
      "573_vehicle_transform\n",
      "575_camera_transform\n",
      "574_camera_transform\n",
      "576_camera_transform\n",
      "577_vehicle_transform\n",
      "579_camera_transform\n",
      "578_camera_transform\n",
      "580_camera_transform\n",
      "581_vehicle_transform\n",
      "583_camera_transform\n",
      "582_camera_transform\n",
      "584_camera_transform\n",
      "585_vehicle_transform\n",
      "587_camera_transform\n",
      "586_camera_transform\n",
      "588_camera_transform\n",
      "589_vehicle_transform\n",
      "591_camera_transform\n",
      "590_camera_transform\n",
      "592_camera_transform\n",
      "593_vehicle_transform\n",
      "595_camera_transform\n",
      "594_camera_transform\n",
      "596_camera_transform\n",
      "597_vehicle_transform\n",
      "599_camera_transform\n",
      "598_camera_transform\n",
      "600_camera_transform\n",
      "601_vehicle_transform\n",
      "603_camera_transform\n",
      "602_camera_transform\n",
      "604_camera_transform\n",
      "605_vehicle_transform\n",
      "607_camera_transform\n",
      "606_camera_transform\n",
      "608_camera_transform\n",
      "609_vehicle_transform\n",
      "611_camera_transform\n",
      "610_camera_transform\n",
      "612_camera_transform\n",
      "613_vehicle_transform\n",
      "615_camera_transform\n",
      "614_camera_transform\n",
      "616_camera_transform\n",
      "617_vehicle_transform\n",
      "619_camera_transform\n",
      "618_camera_transform\n",
      "620_camera_transform\n",
      "621_vehicle_transform\n",
      "623_camera_transform\n",
      "622_camera_transform\n",
      "624_camera_transform\n",
      "625_vehicle_transform\n",
      "627_camera_transform\n",
      "626_camera_transform\n",
      "628_camera_transform\n",
      "629_vehicle_transform\n",
      "631_camera_transform\n",
      "630_camera_transform\n",
      "632_camera_transform\n",
      "633_vehicle_transform\n",
      "635_camera_transform\n",
      "634_camera_transform\n",
      "636_camera_transform\n",
      "637_vehicle_transform\n",
      "639_camera_transform\n",
      "638_camera_transform\n",
      "640_camera_transform\n",
      "641_vehicle_transform\n",
      "643_camera_transform\n",
      "642_camera_transform\n",
      "644_camera_transform\n",
      "645_vehicle_transform\n",
      "647_camera_transform\n",
      "646_camera_transform\n",
      "648_camera_transform\n",
      "649_vehicle_transform\n",
      "651_camera_transform\n",
      "650_camera_transform\n",
      "652_camera_transform\n",
      "653_vehicle_transform\n",
      "655_camera_transform\n",
      "654_camera_transform\n",
      "656_camera_transform\n",
      "657_vehicle_transform\n",
      "659_camera_transform\n",
      "658_camera_transform\n",
      "660_camera_transform\n",
      "661_vehicle_transform\n",
      "663_camera_transform\n",
      "662_camera_transform\n",
      "664_camera_transform\n",
      "665_vehicle_transform\n",
      "667_camera_transform\n",
      "666_camera_transform\n",
      "668_camera_transform\n",
      "669_vehicle_transform\n",
      "671_camera_transform\n",
      "670_camera_transform\n",
      "672_camera_transform\n",
      "673_vehicle_transform\n",
      "675_camera_transform\n",
      "674_camera_transform\n",
      "676_camera_transform\n",
      "677_vehicle_transform\n",
      "679_camera_transform\n",
      "678_camera_transform\n",
      "680_camera_transform\n",
      "681_vehicle_transform\n",
      "683_camera_transform\n",
      "682_camera_transform\n",
      "684_camera_transform\n",
      "685_vehicle_transform\n",
      "687_camera_transform\n",
      "686_camera_transform\n",
      "688_camera_transform\n"
     ]
    }
   ],
   "source": [
    "for time, data_dict in a.item().items():\n",
    "    for key, value in data_dict.items():\n",
    "        print(key)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 117,
   "metadata": {},
   "outputs": [],
   "source": [
    "a = list(a.item().values())[0]\n",
    "a = sorted(a.items())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 122,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "266_vehicle_transform\n",
      "267_camera_transform\n",
      "267_depth\n",
      "268_camera_transform\n",
      "269_camera_transform\n",
      "269_ss\n",
      "270_vehicle_transform\n",
      "271_camera_transform\n",
      "271_depth\n",
      "272_camera_transform\n",
      "272_rgb\n",
      "273_camera_transform\n",
      "273_ss\n",
      "274_vehicle_transform\n",
      "275_camera_transform\n",
      "275_depth\n",
      "276_camera_transform\n",
      "276_rgb\n",
      "277_camera_transform\n",
      "277_ss\n",
      "278_vehicle_transform\n",
      "279_camera_transform\n",
      "279_depth\n",
      "280_camera_transform\n",
      "280_rgb\n",
      "281_camera_transform\n",
      "281_ss\n",
      "282_vehicle_transform\n",
      "283_camera_transform\n",
      "283_depth\n",
      "284_camera_transform\n",
      "284_rgb\n",
      "285_camera_transform\n",
      "285_ss\n",
      "286_vehicle_transform\n",
      "287_camera_transform\n",
      "287_depth\n",
      "288_camera_transform\n",
      "288_rgb\n",
      "289_camera_transform\n",
      "289_ss\n",
      "290_vehicle_transform\n",
      "291_camera_transform\n",
      "291_depth\n",
      "292_camera_transform\n",
      "292_rgb\n",
      "293_camera_transform\n",
      "293_ss\n",
      "294_vehicle_transform\n",
      "295_camera_transform\n",
      "295_depth\n",
      "296_camera_transform\n",
      "296_rgb\n",
      "297_camera_transform\n",
      "297_ss\n",
      "298_vehicle_transform\n",
      "299_camera_transform\n",
      "299_depth\n",
      "300_camera_transform\n",
      "300_rgb\n",
      "301_camera_transform\n",
      "301_ss\n",
      "302_vehicle_transform\n",
      "303_camera_transform\n",
      "303_depth\n",
      "304_camera_transform\n",
      "304_rgb\n",
      "305_camera_transform\n",
      "305_ss\n",
      "306_vehicle_transform\n",
      "307_camera_transform\n",
      "307_depth\n",
      "308_camera_transform\n",
      "308_rgb\n",
      "309_camera_transform\n",
      "309_ss\n",
      "310_vehicle_transform\n",
      "311_camera_transform\n",
      "311_depth\n",
      "312_camera_transform\n",
      "312_rgb\n",
      "313_camera_transform\n",
      "313_ss\n",
      "314_vehicle_transform\n",
      "315_camera_transform\n",
      "315_depth\n",
      "316_camera_transform\n",
      "316_rgb\n",
      "317_camera_transform\n",
      "317_ss\n",
      "318_vehicle_transform\n",
      "319_camera_transform\n",
      "319_depth\n",
      "320_camera_transform\n",
      "320_rgb\n",
      "321_camera_transform\n",
      "321_ss\n",
      "322_vehicle_transform\n",
      "323_camera_transform\n",
      "323_depth\n",
      "324_camera_transform\n",
      "324_rgb\n",
      "325_camera_transform\n",
      "325_ss\n",
      "326_vehicle_transform\n",
      "327_camera_transform\n",
      "327_depth\n",
      "328_camera_transform\n",
      "328_rgb\n",
      "329_camera_transform\n",
      "329_ss\n",
      "330_vehicle_transform\n",
      "331_camera_transform\n",
      "331_depth\n",
      "332_camera_transform\n",
      "332_rgb\n",
      "333_camera_transform\n",
      "333_ss\n",
      "334_vehicle_transform\n",
      "335_camera_transform\n",
      "335_depth\n",
      "336_camera_transform\n",
      "336_rgb\n",
      "337_camera_transform\n",
      "337_ss\n",
      "338_vehicle_transform\n",
      "339_camera_transform\n",
      "339_depth\n",
      "340_camera_transform\n",
      "340_rgb\n",
      "341_camera_transform\n",
      "341_ss\n",
      "342_vehicle_transform\n",
      "343_camera_transform\n",
      "343_depth\n",
      "344_camera_transform\n",
      "344_rgb\n",
      "345_camera_transform\n",
      "345_ss\n",
      "346_vehicle_transform\n",
      "347_camera_transform\n",
      "347_depth\n",
      "348_camera_transform\n",
      "348_rgb\n",
      "349_camera_transform\n",
      "349_ss\n",
      "350_vehicle_transform\n",
      "351_camera_transform\n",
      "351_depth\n",
      "352_camera_transform\n",
      "352_rgb\n",
      "353_camera_transform\n",
      "353_ss\n",
      "354_vehicle_transform\n",
      "355_camera_transform\n",
      "355_depth\n",
      "356_camera_transform\n",
      "356_rgb\n",
      "357_camera_transform\n",
      "357_ss\n",
      "358_vehicle_transform\n",
      "359_camera_transform\n",
      "359_depth\n",
      "360_camera_transform\n",
      "360_rgb\n",
      "361_camera_transform\n",
      "361_ss\n",
      "362_vehicle_transform\n",
      "363_camera_transform\n",
      "363_depth\n",
      "364_camera_transform\n",
      "364_rgb\n",
      "365_camera_transform\n",
      "365_ss\n",
      "366_vehicle_transform\n",
      "367_camera_transform\n",
      "367_depth\n",
      "368_camera_transform\n",
      "368_rgb\n",
      "369_camera_transform\n",
      "369_ss\n",
      "370_vehicle_transform\n",
      "371_camera_transform\n",
      "371_depth\n",
      "372_camera_transform\n",
      "372_rgb\n",
      "373_camera_transform\n",
      "373_ss\n",
      "374_vehicle_transform\n",
      "375_camera_transform\n",
      "375_depth\n",
      "376_camera_transform\n",
      "376_rgb\n",
      "377_camera_transform\n",
      "377_ss\n",
      "378_vehicle_transform\n",
      "379_camera_transform\n",
      "379_depth\n",
      "380_camera_transform\n",
      "380_rgb\n",
      "381_camera_transform\n",
      "381_ss\n",
      "382_vehicle_transform\n",
      "383_camera_transform\n",
      "383_depth\n",
      "384_camera_transform\n",
      "384_rgb\n",
      "385_camera_transform\n",
      "385_ss\n",
      "386_vehicle_transform\n",
      "387_camera_transform\n",
      "387_depth\n",
      "388_camera_transform\n",
      "388_rgb\n",
      "389_camera_transform\n",
      "389_ss\n",
      "390_vehicle_transform\n",
      "391_camera_transform\n",
      "391_depth\n",
      "392_camera_transform\n",
      "392_rgb\n",
      "393_camera_transform\n",
      "393_ss\n",
      "394_vehicle_transform\n",
      "395_camera_transform\n",
      "395_depth\n",
      "396_camera_transform\n",
      "396_rgb\n",
      "397_camera_transform\n",
      "397_ss\n",
      "398_vehicle_transform\n",
      "399_camera_transform\n",
      "399_depth\n",
      "400_camera_transform\n",
      "400_rgb\n",
      "401_camera_transform\n",
      "401_ss\n",
      "402_vehicle_transform\n",
      "403_camera_transform\n",
      "403_depth\n",
      "404_camera_transform\n",
      "404_rgb\n",
      "405_camera_transform\n",
      "405_ss\n",
      "406_vehicle_transform\n",
      "407_camera_transform\n",
      "407_depth\n",
      "408_camera_transform\n",
      "408_rgb\n",
      "409_camera_transform\n",
      "409_ss\n",
      "410_vehicle_transform\n",
      "411_camera_transform\n",
      "411_depth\n",
      "412_camera_transform\n",
      "412_rgb\n",
      "413_camera_transform\n",
      "413_ss\n",
      "414_vehicle_transform\n",
      "415_camera_transform\n",
      "415_depth\n",
      "416_camera_transform\n",
      "416_rgb\n",
      "417_camera_transform\n",
      "417_ss\n",
      "418_vehicle_transform\n",
      "419_camera_transform\n",
      "419_depth\n",
      "420_camera_transform\n",
      "420_rgb\n",
      "421_camera_transform\n",
      "421_ss\n",
      "422_vehicle_transform\n",
      "423_camera_transform\n",
      "423_depth\n",
      "424_camera_transform\n",
      "424_rgb\n",
      "425_camera_transform\n",
      "425_ss\n",
      "426_vehicle_transform\n",
      "427_camera_transform\n",
      "427_depth\n",
      "428_camera_transform\n",
      "428_rgb\n",
      "429_camera_transform\n",
      "429_ss\n",
      "430_vehicle_transform\n",
      "431_camera_transform\n",
      "431_depth\n",
      "432_camera_transform\n",
      "432_rgb\n",
      "433_camera_transform\n",
      "433_ss\n",
      "434_vehicle_transform\n",
      "435_camera_transform\n",
      "435_depth\n",
      "436_camera_transform\n",
      "436_rgb\n",
      "437_camera_transform\n",
      "437_ss\n",
      "438_vehicle_transform\n",
      "439_camera_transform\n",
      "439_depth\n",
      "440_camera_transform\n",
      "440_rgb\n",
      "441_camera_transform\n",
      "441_ss\n",
      "442_vehicle_transform\n",
      "443_camera_transform\n",
      "443_depth\n",
      "444_camera_transform\n",
      "444_rgb\n",
      "445_camera_transform\n",
      "445_ss\n",
      "446_vehicle_transform\n",
      "447_camera_transform\n",
      "447_depth\n",
      "448_camera_transform\n",
      "448_rgb\n",
      "449_camera_transform\n",
      "449_ss\n",
      "450_vehicle_transform\n",
      "451_camera_transform\n",
      "451_depth\n",
      "452_camera_transform\n",
      "452_rgb\n",
      "453_camera_transform\n",
      "453_ss\n",
      "454_vehicle_transform\n",
      "455_camera_transform\n",
      "455_depth\n",
      "456_camera_transform\n",
      "456_rgb\n",
      "457_camera_transform\n",
      "457_ss\n",
      "458_vehicle_transform\n",
      "459_camera_transform\n",
      "459_depth\n",
      "460_camera_transform\n",
      "460_rgb\n",
      "461_camera_transform\n",
      "461_ss\n",
      "462_vehicle_transform\n",
      "463_camera_transform\n",
      "463_depth\n",
      "464_camera_transform\n",
      "464_rgb\n",
      "465_camera_transform\n",
      "465_ss\n",
      "466_vehicle_transform\n",
      "467_camera_transform\n",
      "467_depth\n",
      "468_camera_transform\n",
      "468_rgb\n",
      "469_camera_transform\n",
      "469_ss\n",
      "470_vehicle_transform\n",
      "471_camera_transform\n",
      "471_depth\n",
      "472_camera_transform\n",
      "472_rgb\n",
      "473_camera_transform\n",
      "473_ss\n",
      "474_vehicle_transform\n",
      "475_camera_transform\n",
      "475_depth\n",
      "476_camera_transform\n",
      "476_rgb\n",
      "477_camera_transform\n",
      "477_ss\n",
      "478_vehicle_transform\n",
      "479_camera_transform\n",
      "479_depth\n",
      "480_camera_transform\n",
      "480_rgb\n",
      "481_camera_transform\n",
      "481_ss\n",
      "482_vehicle_transform\n",
      "483_camera_transform\n",
      "483_depth\n",
      "484_camera_transform\n",
      "484_rgb\n",
      "485_camera_transform\n",
      "485_ss\n",
      "486_vehicle_transform\n",
      "487_camera_transform\n",
      "487_depth\n",
      "488_camera_transform\n",
      "488_rgb\n",
      "489_camera_transform\n",
      "489_ss\n",
      "490_vehicle_transform\n",
      "491_camera_transform\n",
      "491_depth\n",
      "492_camera_transform\n",
      "492_rgb\n",
      "493_camera_transform\n",
      "493_ss\n"
     ]
    }
   ],
   "source": [
    "ctr = 0\n",
    "for key, _ in a:\n",
    "    if 'rgb' in key:\n",
    "        ctr = ctr + 1\n",
    "    print(key)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 123,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "56"
      ]
     },
     "execution_count": 123,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "ctr"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 63,
   "metadata": {
    "scrolled": true
   },
   "outputs": [],
   "source": [
    "data_dict = list(fil.item().values())[0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 64,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[('485_vehicle_transform',\n",
       "  array([[  42.64818192,   -7.84390545,    1.37809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('486_camera_transform', array([[  40.64840698,   -7.87377834,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('486_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00583589],\n",
       "          [0.00582725],\n",
       "          [0.00581867]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00583589],\n",
       "          [0.00582725],\n",
       "          [0.00581867]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00583589],\n",
       "          [0.00582725],\n",
       "          [0.00581867]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('487_camera_transform', array([[  40.64840698,   -7.87377834,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('487_rgb', array([[[148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 83,  53,  38],\n",
       "          [ 81,  56,  38],\n",
       "          [ 79,  50,  34]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 69,  46,  34],\n",
       "          [ 81,  53,  38],\n",
       "          [ 83,  53,  38]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 79,  53,  38],\n",
       "          [ 77,  50,  38],\n",
       "          [ 83,  53,  38]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 86,  86,  83],\n",
       "          [ 86,  86,  83],\n",
       "          [ 86,  86,  85],\n",
       "          ...,\n",
       "          [125, 121, 122],\n",
       "          [122, 121, 121],\n",
       "          [122, 121, 121]],\n",
       "  \n",
       "         [[ 91,  90,  88],\n",
       "          [ 90,  88,  88],\n",
       "          [ 88,  86,  88],\n",
       "          ...,\n",
       "          [124, 121, 122],\n",
       "          [124, 121, 122],\n",
       "          [124, 121, 122]],\n",
       "  \n",
       "         [[ 95,  95,  91],\n",
       "          [ 88,  90,  88],\n",
       "          [ 86,  88,  88],\n",
       "          ...,\n",
       "          [122, 121, 121],\n",
       "          [124, 121, 122],\n",
       "          [125, 122, 122]]], dtype=uint8)),\n",
       " ('488_camera_transform', array([[  40.64840698,   -7.87377834,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('488_ss', array([[[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]]], dtype=uint8)),\n",
       " ('489_vehicle_transform',\n",
       "  array([[ 1.54126831e+02, -1.40758759e+02,  9.33936787e+00],\n",
       "         [-2.32266045e+00, -8.90035172e+01,  1.06809445e-07]])),\n",
       " ('490_camera_transform',\n",
       "  array([[ 1.54162643e+02, -1.42817596e+02,  1.07570810e+01],\n",
       "         [-2.32266045e+00, -8.90035172e+01,  1.06809445e-07]])),\n",
       " ('490_depth', array([[[0.01199216],\n",
       "          [0.01201129],\n",
       "          [0.01203042],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[0.01199216],\n",
       "          [0.01201123],\n",
       "          [0.01203042],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[0.01199216],\n",
       "          [0.01201123],\n",
       "          [0.01203042],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00742292],\n",
       "          [0.00742441],\n",
       "          [0.0074259 ],\n",
       "          ...,\n",
       "          [0.00675708],\n",
       "          [0.00675714],\n",
       "          [0.0067572 ]],\n",
       "  \n",
       "         [[0.00739485],\n",
       "          [0.00739634],\n",
       "          [0.00739789],\n",
       "          ...,\n",
       "          [0.00672841],\n",
       "          [0.00672853],\n",
       "          [0.00672859]],\n",
       "  \n",
       "         [[0.00736702],\n",
       "          [0.00736851],\n",
       "          [0.00737   ],\n",
       "          ...,\n",
       "          [0.00670004],\n",
       "          [0.0067001 ],\n",
       "          [0.00670022]]])),\n",
       " ('491_camera_transform',\n",
       "  array([[ 1.54162643e+02, -1.42817596e+02,  1.07570810e+01],\n",
       "         [-2.32266045e+00, -8.90035172e+01,  1.06809445e-07]])),\n",
       " ('491_rgb', array([[[ 85,  53,  38],\n",
       "          [ 86,  56,  38],\n",
       "          [ 88,  56,  42],\n",
       "          ...,\n",
       "          [146, 126, 113],\n",
       "          [146, 126, 113],\n",
       "          [145, 125, 113]],\n",
       "  \n",
       "         [[ 85,  53,  38],\n",
       "          [ 85,  53,  38],\n",
       "          [ 88,  56,  42],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          [146, 126, 113]],\n",
       "  \n",
       "         [[ 88,  56,  42],\n",
       "          [ 86,  53,  38],\n",
       "          [ 85,  53,  38],\n",
       "          ...,\n",
       "          [146, 126, 113],\n",
       "          [147, 126, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 91,  86,  86],\n",
       "          [ 83,  83,  85],\n",
       "          [ 86,  85,  86],\n",
       "          ...,\n",
       "          [122, 121, 120],\n",
       "          [120, 119, 119],\n",
       "          [120, 118, 119]],\n",
       "  \n",
       "         [[ 88,  86,  88],\n",
       "          [ 86,  85,  86],\n",
       "          [ 83,  85,  86],\n",
       "          ...,\n",
       "          [121, 120, 119],\n",
       "          [121, 120, 120],\n",
       "          [120, 119, 119]],\n",
       "  \n",
       "         [[ 93,  90,  90],\n",
       "          [ 88,  88,  88],\n",
       "          [ 88,  86,  86],\n",
       "          ...,\n",
       "          [121, 120, 119],\n",
       "          [121, 120, 120],\n",
       "          [118, 118, 118]]], dtype=uint8)),\n",
       " ('492_camera_transform',\n",
       "  array([[ 1.54162643e+02, -1.42817596e+02,  1.07570810e+01],\n",
       "         [-2.32266045e+00, -8.90035172e+01,  1.06809445e-07]])),\n",
       " ('492_ss', array([[[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('493_vehicle_transform',\n",
       "  array([[-7.78871689e+01,  2.14442043e+01,  1.34024823e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('494_camera_transform',\n",
       "  array([[-7.78926468e+01,  1.94351311e+01,  2.82806396e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('494_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.04223341],\n",
       "          [0.04228664],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.04223341],\n",
       "          [0.04228878],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.04223341],\n",
       "          [0.042292  ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00543529],\n",
       "          [0.00543529],\n",
       "          [0.00543529],\n",
       "          ...,\n",
       "          [0.00541371],\n",
       "          [0.00543159],\n",
       "          [0.00543159]],\n",
       "  \n",
       "         [[0.00542021],\n",
       "          [0.00542027],\n",
       "          [0.00542027],\n",
       "          ...,\n",
       "          [0.00539863],\n",
       "          [0.00539863],\n",
       "          [0.00541645]],\n",
       "  \n",
       "         [[0.00540531],\n",
       "          [0.00540531],\n",
       "          [0.00540531],\n",
       "          ...,\n",
       "          [0.00538361],\n",
       "          [0.00538361],\n",
       "          [0.00538361]]])),\n",
       " ('495_camera_transform',\n",
       "  array([[-7.78926468e+01,  1.94351311e+01,  2.82806396e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('495_rgb', array([[[148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [107,  62,  39],\n",
       "          [145, 118,  99]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [107,  59,  34],\n",
       "          [145, 118, 101]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [107,  62,  34],\n",
       "          [145, 118,  99]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 83,  85,  85],\n",
       "          [ 85,  85,  85],\n",
       "          [ 83,  85,  85],\n",
       "          ...,\n",
       "          [139, 133, 129],\n",
       "          [ 93, 111, 116],\n",
       "          [104,  96,  95]],\n",
       "  \n",
       "         [[ 81,  81,  85],\n",
       "          [ 77,  79,  83],\n",
       "          [ 79,  79,  81],\n",
       "          ...,\n",
       "          [149, 143, 140],\n",
       "          [138, 137, 136],\n",
       "          [ 90, 109, 115]],\n",
       "  \n",
       "         [[ 83,  83,  85],\n",
       "          [ 81,  81,  83],\n",
       "          [ 83,  83,  83],\n",
       "          ...,\n",
       "          [126, 125, 125],\n",
       "          [144, 139, 137],\n",
       "          [143, 137, 135]]], dtype=uint8)),\n",
       " ('496_camera_transform',\n",
       "  array([[-7.78926468e+01,  1.94351311e+01,  2.82806396e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('496_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [6],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [6],\n",
       "          [6],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [6],\n",
       "          [6],\n",
       "          [6]]], dtype=uint8)),\n",
       " ('497_vehicle_transform', array([[157.32481384,   8.87075996,   1.37809992],\n",
       "         [  0.        ,   0.85580444,   0.        ]])),\n",
       " ('498_camera_transform', array([[159.32458496,   8.9006319 ,   2.87809992],\n",
       "         [  0.        ,   0.85580444,   0.        ]])),\n",
       " ('498_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.0112468 ],\n",
       "          [0.01123673],\n",
       "          [0.01122665]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01124412],\n",
       "          [0.01123411],\n",
       "          [0.01122403]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01105064],\n",
       "          [0.0110383 ],\n",
       "          [0.01122129]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('499_camera_transform', array([[159.32458496,   8.9006319 ,   2.87809992],\n",
       "         [  0.        ,   0.85580444,   0.        ]])),\n",
       " ('499_rgb', array([[[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [ 22,  22,  22],\n",
       "          [ 13,  22,  22],\n",
       "          [  0,  13,  13]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [  0,  13,  13],\n",
       "          [ 13,  22,  22],\n",
       "          [ 13,  22,  13]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 13,  13,  13],\n",
       "          [ 22,  13,  13],\n",
       "          [ 13,  13,  13]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 83,  83,  83],\n",
       "          [ 79,  81,  81],\n",
       "          [ 85,  85,  83],\n",
       "          ...,\n",
       "          [102, 101, 102],\n",
       "          [102, 101, 102],\n",
       "          [102, 101, 102]],\n",
       "  \n",
       "         [[ 88,  86,  88],\n",
       "          [ 88,  90,  88],\n",
       "          [ 83,  86,  86],\n",
       "          ...,\n",
       "          [102, 101, 102],\n",
       "          [104, 101, 102],\n",
       "          [102, 101, 102]],\n",
       "  \n",
       "         [[ 86,  88,  90],\n",
       "          [ 85,  86,  88],\n",
       "          [ 90,  88,  91],\n",
       "          ...,\n",
       "          [101,  99, 101],\n",
       "          [104, 102, 104],\n",
       "          [105, 102, 104]]], dtype=uint8)),\n",
       " ('500_camera_transform', array([[159.32458496,   8.9006319 ,   2.87809992],\n",
       "         [  0.        ,   0.85580444,   0.        ]])),\n",
       " ('500_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('501_vehicle_transform', array([[-85.14412689,  97.23259735,   1.37797165],\n",
       "         [  0.        ,  89.78766632,   0.        ]])),\n",
       " ('502_camera_transform', array([[-85.13671875,  99.23258209,   2.87797165],\n",
       "         [  0.        ,  89.78766632,   0.        ]])),\n",
       " ('502_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00508755],\n",
       "          [0.00508755],\n",
       "          [0.00508755],\n",
       "          ...,\n",
       "          [0.00508791],\n",
       "          [0.00508791],\n",
       "          [0.00508791]],\n",
       "  \n",
       "         [[0.00507289],\n",
       "          [0.00507289],\n",
       "          [0.00507289],\n",
       "          ...,\n",
       "          [0.00507325],\n",
       "          [0.00507325],\n",
       "          [0.00507325]],\n",
       "  \n",
       "         [[0.00505835],\n",
       "          [0.00505835],\n",
       "          [0.00505835],\n",
       "          ...,\n",
       "          [0.00505865],\n",
       "          [0.00505865],\n",
       "          [0.00505865]]])),\n",
       " ('503_camera_transform', array([[-85.13671875,  99.23258209,   2.87797165],\n",
       "         [  0.        ,  89.78766632,   0.        ]])),\n",
       " ('503_rgb', array([[[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         [[146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 81,  83,  85],\n",
       "          [ 88,  85,  88],\n",
       "          [ 88,  86,  88],\n",
       "          ...,\n",
       "          [ 77,  81,  85],\n",
       "          [ 83,  85,  86],\n",
       "          [ 86,  86,  88]],\n",
       "  \n",
       "         [[ 81,  85,  86],\n",
       "          [ 86,  86,  88],\n",
       "          [ 86,  86,  90],\n",
       "          ...,\n",
       "          [ 85,  90,  90],\n",
       "          [ 77,  83,  85],\n",
       "          [ 88,  85,  88]],\n",
       "  \n",
       "         [[ 85,  83,  85],\n",
       "          [ 83,  81,  85],\n",
       "          [ 83,  83,  86],\n",
       "          ...,\n",
       "          [ 85,  86,  86],\n",
       "          [ 88,  91,  91],\n",
       "          [ 95,  96,  93]]], dtype=uint8)),\n",
       " ('504_camera_transform', array([[-85.13671875,  99.23258209,   2.87797165],\n",
       "         [  0.        ,  89.78766632,   0.        ]])),\n",
       " ('504_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('505_vehicle_transform', array([[44.42400742,  7.18429422,  1.37809992],\n",
       "         [ 0.        ,  0.85580444,  0.        ]])),\n",
       " ('506_camera_transform', array([[46.42378235,  7.21416616,  2.87809992],\n",
       "         [ 0.        ,  0.85580444,  0.        ]])),\n",
       " ('506_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('507_camera_transform', array([[46.42378235,  7.21416616,  2.87809992],\n",
       "         [ 0.        ,  0.85580444,  0.        ]])),\n",
       " ('507_rgb', array([[[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          [145, 125, 112]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [146, 126, 113],\n",
       "          [147, 126, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 90,  90,  90],\n",
       "          [ 93,  90,  90],\n",
       "          [ 85,  86,  86],\n",
       "          ...,\n",
       "          [102,  99, 102],\n",
       "          [101,  99, 101],\n",
       "          [101,  99, 101]],\n",
       "  \n",
       "         [[102,  93,  93],\n",
       "          [ 90,  88,  88],\n",
       "          [ 85,  85,  86],\n",
       "          ...,\n",
       "          [104, 101, 104],\n",
       "          [102, 102, 104],\n",
       "          [102, 101, 102]],\n",
       "  \n",
       "         [[ 91,  90,  91],\n",
       "          [ 86,  85,  88],\n",
       "          [ 85,  85,  86],\n",
       "          ...,\n",
       "          [104, 102, 104],\n",
       "          [105, 104, 105],\n",
       "          [104, 102, 104]]], dtype=uint8)),\n",
       " ('508_camera_transform', array([[46.42378235,  7.21416616,  2.87809992],\n",
       "         [ 0.        ,  0.85580444,  0.        ]])),\n",
       " ('508_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('509_vehicle_transform', array([[ 25.68235588,   4.02446032,   1.3780998 ],\n",
       "         [  0.        , -13.66844559,   0.        ]])),\n",
       " ('510_camera_transform', array([[ 27.62571526,   3.55185485,   2.87809992],\n",
       "         [  0.        , -13.66844559,   0.        ]])),\n",
       " ('510_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[0.02808541],\n",
       "          [1.        ],\n",
       "          [0.02810049],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [0.02813256],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345]]])),\n",
       " ('511_camera_transform', array([[ 27.62571526,   3.55185485,   2.87809992],\n",
       "         [  0.        , -13.66844559,   0.        ]])),\n",
       " ('511_rgb', array([[[145, 122, 109],\n",
       "          [146, 124, 110],\n",
       "          [116,  92,  74],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [145, 125, 112]],\n",
       "  \n",
       "         [[ 42, 106,  96],\n",
       "          [144, 117, 100],\n",
       "          [ 95,  84,  71],\n",
       "          ...,\n",
       "          [145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [144, 116,  95],\n",
       "          [ 67,  57,  45],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          [146, 125, 112]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 83,  83,  86],\n",
       "          [ 85,  83,  86],\n",
       "          [ 91,  85,  88],\n",
       "          ...,\n",
       "          [ 86,  86,  86],\n",
       "          [ 90,  86,  86],\n",
       "          [ 85,  85,  86]],\n",
       "  \n",
       "         [[ 99,  91,  90],\n",
       "          [ 96,  88,  88],\n",
       "          [ 86,  83,  85],\n",
       "          ...,\n",
       "          [ 91,  88,  88],\n",
       "          [ 88,  88,  88],\n",
       "          [ 88,  86,  86]],\n",
       "  \n",
       "         [[ 99,  88,  88],\n",
       "          [ 95,  86,  88],\n",
       "          [ 95,  88,  90],\n",
       "          ...,\n",
       "          [ 90,  88,  90],\n",
       "          [ 91,  90,  90],\n",
       "          [ 98,  91,  91]]], dtype=uint8)),\n",
       " ('512_camera_transform', array([[ 27.62571526,   3.55185485,   2.87809992],\n",
       "         [  0.        , -13.66844559,   0.        ]])),\n",
       " ('512_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[9],\n",
       "          [0],\n",
       "          [9],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [9],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('513_vehicle_transform',\n",
       "  array([[ -61.63835907,  190.77946472,    1.37809968],\n",
       "         [   0.        , -144.44728088,    0.        ]])),\n",
       " ('514_camera_transform', array([[ -63.265522  ,  189.61656189,    2.87809968],\n",
       "         [   0.        , -144.44728088,    0.        ]])),\n",
       " ('514_depth', array([[[0.0184685 ],\n",
       "          [0.01842833],\n",
       "          [0.01838857],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[0.01846427],\n",
       "          [0.01842427],\n",
       "          [0.01838452],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[0.01846016],\n",
       "          [0.01842022],\n",
       "          [0.01838029],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351]]])),\n",
       " ('515_camera_transform', array([[ -63.265522  ,  189.61656189,    2.87809968],\n",
       "         [   0.        , -144.44728088,    0.        ]])),\n",
       " ('515_rgb', array([[[112,  77,  59],\n",
       "          [106,  75,  59],\n",
       "          [110,  77,  61],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [147, 126, 114],\n",
       "          [147, 125, 113]],\n",
       "  \n",
       "         [[108,  75,  59],\n",
       "          [113,  79,  64],\n",
       "          [114,  81,  64],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [147, 126, 113],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         [[117,  83,  66],\n",
       "          [115,  81,  64],\n",
       "          [114,  79,  64],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [148, 126, 114],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 88,  85,  83],\n",
       "          [ 86,  83,  83],\n",
       "          [ 88,  86,  85],\n",
       "          ...,\n",
       "          [ 93,  85,  88],\n",
       "          [ 88,  83,  85],\n",
       "          [ 77,  79,  83]],\n",
       "  \n",
       "         [[ 79,  79,  81],\n",
       "          [ 88,  85,  85],\n",
       "          [ 86,  83,  86],\n",
       "          ...,\n",
       "          [ 86,  83,  86],\n",
       "          [ 90,  81,  86],\n",
       "          [ 93,  81,  86]],\n",
       "  \n",
       "         [[ 86,  83,  85],\n",
       "          [ 91,  85,  90],\n",
       "          [ 95,  86,  90],\n",
       "          ...,\n",
       "          [ 81,  81,  85],\n",
       "          [ 81,  81,  85],\n",
       "          [ 90,  85,  88]]], dtype=uint8)),\n",
       " ('516_camera_transform', array([[ -63.265522  ,  189.61656189,    2.87809968],\n",
       "         [   0.        , -144.44728088,    0.        ]])),\n",
       " ('516_ss', array([[[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('517_vehicle_transform',\n",
       "  array([[ 220.31739807,   -5.18995523,    1.37809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('518_camera_transform', array([[ 218.31761169,   -5.21982861,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('518_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00645196],\n",
       "          [0.00644434],\n",
       "          [0.0064317 ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00645196],\n",
       "          [0.00644434],\n",
       "          [0.0064317 ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00645196],\n",
       "          [0.00644434],\n",
       "          [0.0064317 ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558907],\n",
       "          [0.00558907],\n",
       "          [0.00558907],\n",
       "          ...,\n",
       "          [0.00531691],\n",
       "          [0.00531691],\n",
       "          [0.00531691]],\n",
       "  \n",
       "         [[0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          ...,\n",
       "          [0.00530213],\n",
       "          [0.00530213],\n",
       "          [0.00530213]]])),\n",
       " ('519_camera_transform', array([[ 218.31761169,   -5.21982861,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('519_rgb', array([[[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 93,  64,  50],\n",
       "          [ 79,  56,  42],\n",
       "          [ 81,  53,  38]],\n",
       "  \n",
       "         [[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 98,  66,  50],\n",
       "          [ 85,  59,  46],\n",
       "          [ 77,  53,  38]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 95,  64,  46],\n",
       "          [ 79,  53,  42],\n",
       "          [ 81,  53,  38]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 95,  90,  88],\n",
       "          [ 88,  85,  86],\n",
       "          [ 85,  85,  86],\n",
       "          ...,\n",
       "          [124, 121, 121],\n",
       "          [125, 124, 122],\n",
       "          [125, 124, 122]],\n",
       "  \n",
       "         [[ 88,  86,  88],\n",
       "          [ 86,  86,  88],\n",
       "          [ 90,  90,  90],\n",
       "          ...,\n",
       "          [124, 122, 121],\n",
       "          [126, 124, 122],\n",
       "          [124, 122, 122]],\n",
       "  \n",
       "         [[ 91,  88,  90],\n",
       "          [ 91,  88,  88],\n",
       "          [ 90,  86,  85],\n",
       "          ...,\n",
       "          [121, 120, 121],\n",
       "          [125, 122, 122],\n",
       "          [125, 122, 122]]], dtype=uint8)),\n",
       " ('520_camera_transform', array([[ 218.31761169,   -5.21982861,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('520_ss', array([[[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]]], dtype=uint8)),\n",
       " ('521_vehicle_transform',\n",
       "  array([[-7.43871765e+01,  5.75316200e+01,  1.34026527e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('522_camera_transform',\n",
       "  array([[-7.43926544e+01,  5.55225487e+01,  2.82808089e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('522_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01501179],\n",
       "          [0.01498818],\n",
       "          [0.01496482]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01501179],\n",
       "          [0.01498818],\n",
       "          [0.01496482]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01501179],\n",
       "          [0.01498818],\n",
       "          [0.01496482]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.0043689 ],\n",
       "          [0.0043689 ],\n",
       "          [0.0043689 ],\n",
       "          ...,\n",
       "          [0.00436896],\n",
       "          [0.00436896],\n",
       "          [0.00436896]],\n",
       "  \n",
       "         [[0.00435627],\n",
       "          [0.00435627],\n",
       "          [0.00435627],\n",
       "          ...,\n",
       "          [0.00435627],\n",
       "          [0.00435627],\n",
       "          [0.00435627]],\n",
       "  \n",
       "         [[0.00434369],\n",
       "          [0.00434369],\n",
       "          [0.00434369],\n",
       "          ...,\n",
       "          [0.00434369],\n",
       "          [0.00434369],\n",
       "          [0.00434369]]])),\n",
       " ('523_camera_transform',\n",
       "  array([[-7.43926544e+01,  5.55225487e+01,  2.82808089e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('523_rgb', array([[[148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 50,  22,  13],\n",
       "          [ 50,  22,  13],\n",
       "          [ 50,  13,   0]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 46,  13,   0],\n",
       "          [ 50,  22,  13],\n",
       "          [ 50,  22,  13]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 50,  22,  13],\n",
       "          [ 50,  22,  13],\n",
       "          [ 46,  13,   0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 91,  86,  90],\n",
       "          [ 81,  83,  85],\n",
       "          [ 81,  85,  86],\n",
       "          ...,\n",
       "          [ 83,  88,  90],\n",
       "          [ 85,  85,  86],\n",
       "          [ 93,  86,  86]],\n",
       "  \n",
       "         [[ 86,  88,  88],\n",
       "          [ 95,  91,  90],\n",
       "          [101,  93,  93],\n",
       "          ...,\n",
       "          [ 98,  91,  91],\n",
       "          [ 90,  93,  96],\n",
       "          [ 88,  93,  95]],\n",
       "  \n",
       "         [[ 90,  86,  88],\n",
       "          [ 81,  83,  86],\n",
       "          [ 83,  90,  88],\n",
       "          ...,\n",
       "          [ 91,  91,  91],\n",
       "          [ 88,  93,  91],\n",
       "          [ 85,  91,  90]]], dtype=uint8)),\n",
       " ('524_camera_transform',\n",
       "  array([[-7.43926544e+01,  5.55225487e+01,  2.82808089e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('524_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('525_vehicle_transform',\n",
       "  array([[ 1.51938690e+02, -1.49575949e+01,  1.50393963e+00],\n",
       "         [ 2.31246972e+00, -8.90035172e+01,  2.13617369e-07]])),\n",
       " ('526_camera_transform',\n",
       "  array([[ 1.51972382e+02, -1.68951492e+01,  3.08341670e+00],\n",
       "         [ 2.31246972e+00, -8.90035172e+01,  2.13617369e-07]])),\n",
       " ('526_depth', array([[[0.01618737],\n",
       "          [0.01618785],\n",
       "          [0.01618815],\n",
       "          ...,\n",
       "          [0.00799358],\n",
       "          [0.00798106],\n",
       "          [0.00796861]],\n",
       "  \n",
       "         [[0.0161863 ],\n",
       "          [0.01618677],\n",
       "          [0.01618725],\n",
       "          ...,\n",
       "          [0.00799358],\n",
       "          [0.00798106],\n",
       "          [0.00796861]],\n",
       "  \n",
       "         [[0.01618534],\n",
       "          [0.01618564],\n",
       "          [0.01618612],\n",
       "          ...,\n",
       "          [0.00799358],\n",
       "          [0.00798106],\n",
       "          [0.00796861]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.0051142 ],\n",
       "          [0.0051142 ],\n",
       "          [0.0051142 ],\n",
       "          ...,\n",
       "          [0.00524104],\n",
       "          [0.00524133],\n",
       "          [0.00524163]],\n",
       "  \n",
       "         [[0.00510091],\n",
       "          [0.00510091],\n",
       "          [0.00510091],\n",
       "          ...,\n",
       "          [0.00522685],\n",
       "          [0.00522715],\n",
       "          [0.00522745]],\n",
       "  \n",
       "         [[0.00508767],\n",
       "          [0.00508767],\n",
       "          [0.00508767],\n",
       "          ...,\n",
       "          [0.00523567],\n",
       "          [0.00521302],\n",
       "          [0.00521332]]])),\n",
       " ('527_camera_transform',\n",
       "  array([[ 1.51972382e+02, -1.68951492e+01,  3.08341670e+00],\n",
       "         [ 2.31246972e+00, -8.90035172e+01,  2.13617369e-07]])),\n",
       " ('527_rgb', array([[[ 81,  46,  28],\n",
       "          [ 79,  46,  34],\n",
       "          [ 79,  46,  34],\n",
       "          ...,\n",
       "          [ 99,  86,  79],\n",
       "          [ 95,  83,  75],\n",
       "          [ 96,  83,  75]],\n",
       "  \n",
       "         [[ 81,  46,  28],\n",
       "          [ 81,  46,  34],\n",
       "          [ 83,  50,  34],\n",
       "          ...,\n",
       "          [ 95,  81,  75],\n",
       "          [ 95,  83,  75],\n",
       "          [ 95,  83,  75]],\n",
       "  \n",
       "         [[ 79,  46,  34],\n",
       "          [ 79,  46,  34],\n",
       "          [ 85,  50,  34],\n",
       "          ...,\n",
       "          [ 98,  85,  77],\n",
       "          [ 98,  85,  77],\n",
       "          [ 91,  81,  75]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 81,  81,  83],\n",
       "          [ 79,  81,  85],\n",
       "          [ 88,  85,  86],\n",
       "          ...,\n",
       "          [122, 117, 118],\n",
       "          [126, 122, 123],\n",
       "          [161, 150, 145]],\n",
       "  \n",
       "         [[ 90,  86,  90],\n",
       "          [ 98,  88,  90],\n",
       "          [ 85,  83,  86],\n",
       "          ...,\n",
       "          [121, 118, 115],\n",
       "          [143, 135, 132],\n",
       "          [163, 157, 154]],\n",
       "  \n",
       "         [[ 96,  93,  90],\n",
       "          [ 88,  88,  88],\n",
       "          [ 79,  85,  85],\n",
       "          ...,\n",
       "          [ 85,  88,  91],\n",
       "          [122, 118, 115],\n",
       "          [125, 127, 127]]], dtype=uint8)),\n",
       " ('528_camera_transform',\n",
       "  array([[ 1.51972382e+02, -1.68951492e+01,  3.08341670e+00],\n",
       "         [ 2.31246972e+00, -8.90035172e+01,  2.13617369e-07]])),\n",
       " ('528_ss', array([[[ 1],\n",
       "          [ 1],\n",
       "          [ 1],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 1],\n",
       "          [ 1],\n",
       "          [ 1],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 1],\n",
       "          [ 1],\n",
       "          [ 1],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 6],\n",
       "          [ 6],\n",
       "          [ 6]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 6],\n",
       "          [ 6],\n",
       "          [ 6]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 6],\n",
       "          [ 6]]], dtype=uint8)),\n",
       " ('529_vehicle_transform', array([[  4.92610264,  59.08685303,   1.37808776],\n",
       "         [  0.        , -88.89123535,   0.        ]])),\n",
       " ('530_camera_transform', array([[  4.96480322,  57.08723068,   2.87808776],\n",
       "         [  0.        , -88.89123535,   0.        ]])),\n",
       " ('530_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01335788],\n",
       "          [0.01335824],\n",
       "          [0.01335853]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01339579],\n",
       "          [0.01339609],\n",
       "          [0.0133965 ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01340634],\n",
       "          [0.01340681],\n",
       "          [0.01340711]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00533313],\n",
       "          [0.00533319],\n",
       "          [0.00533319]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531817],\n",
       "          [0.00531822],\n",
       "          [0.00531822]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530332],\n",
       "          [0.00530332],\n",
       "          [0.00530338]]])),\n",
       " ('531_camera_transform', array([[  4.96480322,  57.08723068,   2.87808776],\n",
       "         [  0.        , -88.89123535,   0.        ]])),\n",
       " ('531_rgb', array([[[148, 126, 113],\n",
       "          [148, 126, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 13,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 13,  13,  13],\n",
       "          [ 13,  13,  13],\n",
       "          [ 13,   0,   0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 93,  88,  90],\n",
       "          [ 88,  85,  88],\n",
       "          [ 90,  85,  88],\n",
       "          ...,\n",
       "          [ 86,  85,  81],\n",
       "          [ 86,  85,  81],\n",
       "          [ 86,  85,  81]],\n",
       "  \n",
       "         [[ 83,  79,  85],\n",
       "          [ 81,  79,  81],\n",
       "          [ 81,  83,  81],\n",
       "          ...,\n",
       "          [ 85,  83,  79],\n",
       "          [ 86,  85,  81],\n",
       "          [ 86,  85,  81]],\n",
       "  \n",
       "         [[ 88,  85,  83],\n",
       "          [ 85,  83,  79],\n",
       "          [ 83,  83,  81],\n",
       "          ...,\n",
       "          [ 79,  79,  75],\n",
       "          [ 86,  83,  79],\n",
       "          [ 86,  83,  81]]], dtype=uint8)),\n",
       " ('532_camera_transform', array([[  4.96480322,  57.08723068,   2.87808776],\n",
       "         [  0.        , -88.89123535,   0.        ]])),\n",
       " ('532_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('533_vehicle_transform',\n",
       "  array([[-145.53578186,   52.82833862,    1.3780998 ],\n",
       "         [   0.        ,  -89.97014618,    0.        ]])),\n",
       " ('534_camera_transform', array([[-145.534729  ,   50.82833862,    2.87809992],\n",
       "         [   0.        ,  -89.97014618,    0.        ]])),\n",
       " ('534_depth', array([[[0.0184421 ],\n",
       "          [0.0184421 ],\n",
       "          [0.0184421 ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[0.01849353],\n",
       "          [0.01849353],\n",
       "          [0.01849353],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[0.01854527],\n",
       "          [0.01854527],\n",
       "          [0.01854527],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345]]])),\n",
       " ('535_camera_transform', array([[-145.534729  ,   50.82833862,    2.87809992],\n",
       "         [   0.        ,  -89.97014618,    0.        ]])),\n",
       " ('535_rgb', array([[[  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [147, 126, 113],\n",
       "          [146, 125, 112]],\n",
       "  \n",
       "         [[  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          ...,\n",
       "          [146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [147, 126, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 61,  34,  28],\n",
       "          [ 71,  38,  28],\n",
       "          [ 69,  38,  28],\n",
       "          ...,\n",
       "          [ 71,  42,  28],\n",
       "          [ 61,  38,  28],\n",
       "          [ 61,  34,  22]],\n",
       "  \n",
       "         [[ 66,  38,  28],\n",
       "          [ 64,  38,  28],\n",
       "          [ 73,  38,  28],\n",
       "          ...,\n",
       "          [ 64,  34,  22],\n",
       "          [ 69,  42,  28],\n",
       "          [ 64,  38,  28]],\n",
       "  \n",
       "         [[ 75,  42,  28],\n",
       "          [ 79,  42,  28],\n",
       "          [ 75,  38,  28],\n",
       "          ...,\n",
       "          [ 71,  34,  22],\n",
       "          [ 73,  38,  28],\n",
       "          [ 69,  38,  28]]], dtype=uint8)),\n",
       " ('536_camera_transform', array([[-145.534729  ,   50.82833862,    2.87809992],\n",
       "         [   0.        ,  -89.97014618,    0.        ]])),\n",
       " ('536_ss', array([[[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('537_vehicle_transform', array([[-74.02700043, 123.91683197,   1.41846085],\n",
       "         [  0.39505813, -90.15624237,   0.        ]])),\n",
       " ('538_camera_transform', array([[-74.03242493, 121.92723083,   2.93221521],\n",
       "         [  0.39505813, -90.15624237,   0.        ]])),\n",
       " ('538_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01350921],\n",
       "          [0.01348806],\n",
       "          [0.01346696]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01350933],\n",
       "          [0.01348806],\n",
       "          [0.01346696]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01350933],\n",
       "          [0.01348806],\n",
       "          [0.01346696]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00555229],\n",
       "          [0.00555229],\n",
       "          [0.00555229],\n",
       "          ...,\n",
       "          [0.00529647],\n",
       "          [0.00529647],\n",
       "          [0.00529647]],\n",
       "  \n",
       "         [[0.00553697],\n",
       "          [0.00553691],\n",
       "          [0.00553691],\n",
       "          ...,\n",
       "          [0.00528181],\n",
       "          [0.00528181],\n",
       "          [0.00528181]],\n",
       "  \n",
       "         [[0.00552166],\n",
       "          [0.00552166],\n",
       "          [0.00552166],\n",
       "          ...,\n",
       "          [0.0052672 ],\n",
       "          [0.0052672 ],\n",
       "          [0.0052672 ]]])),\n",
       " ('539_camera_transform', array([[-74.03242493, 121.92723083,   2.93221521],\n",
       "         [  0.39505813, -90.15624237,   0.        ]])),\n",
       " ('539_rgb', array([[[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 28,  22,  50],\n",
       "          [ 42,  38,  66],\n",
       "          [ 46,  42,  73]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 34,  28,  64],\n",
       "          [ 46,  38,  71],\n",
       "          [ 46,  42,  75]],\n",
       "  \n",
       "         [[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          ...,\n",
       "          [ 38,  34,  66],\n",
       "          [ 46,  38,  71],\n",
       "          [ 46,  42,  73]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 88,  88,  85],\n",
       "          [ 93,  91,  91],\n",
       "          [ 90,  91,  91],\n",
       "          ...,\n",
       "          [120, 119, 120],\n",
       "          [120, 119, 120],\n",
       "          [121, 120, 120]],\n",
       "  \n",
       "         [[ 93,  91,  91],\n",
       "          [ 90,  88,  90],\n",
       "          [ 85,  86,  88],\n",
       "          ...,\n",
       "          [121, 120, 120],\n",
       "          [120, 120, 120],\n",
       "          [121, 120, 120]],\n",
       "  \n",
       "         [[ 98,  93,  93],\n",
       "          [ 98,  91,  91],\n",
       "          [ 98,  90,  91],\n",
       "          ...,\n",
       "          [120, 118, 119],\n",
       "          [119, 119, 120],\n",
       "          [120, 119, 120]]], dtype=uint8)),\n",
       " ('540_camera_transform', array([[-74.03242493, 121.92723083,   2.93221521],\n",
       "         [  0.39505813, -90.15624237,   0.        ]])),\n",
       " ('540_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('541_vehicle_transform', array([[-11.74878788,  26.60116577,   1.3780998 ],\n",
       "         [  0.        ,  78.62485504,   0.        ]])),\n",
       " ('542_camera_transform', array([[-11.35432434,  28.56188011,   2.87809992],\n",
       "         [  0.        ,  78.62485504,   0.        ]])),\n",
       " ('542_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('543_camera_transform', array([[-11.35432434,  28.56188011,   2.87809992],\n",
       "         [  0.        ,  78.62485504,   0.        ]])),\n",
       " ('543_rgb', array([[[146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[121, 119, 120],\n",
       "          [121, 120, 120],\n",
       "          [121, 120, 120],\n",
       "          ...,\n",
       "          [121, 120, 120],\n",
       "          [124, 121, 121],\n",
       "          [122, 120, 121]],\n",
       "  \n",
       "         [[120, 119, 120],\n",
       "          [122, 121, 120],\n",
       "          [121, 120, 120],\n",
       "          ...,\n",
       "          [121, 120, 120],\n",
       "          [122, 121, 121],\n",
       "          [124, 121, 122]],\n",
       "  \n",
       "         [[122, 120, 119],\n",
       "          [121, 120, 120],\n",
       "          [121, 120, 120],\n",
       "          ...,\n",
       "          [122, 120, 121],\n",
       "          [121, 120, 121],\n",
       "          [124, 121, 121]]], dtype=uint8)),\n",
       " ('544_camera_transform', array([[-11.35432434,  28.56188011,   2.87809992],\n",
       "         [  0.        ,  78.62485504,   0.        ]])),\n",
       " ('544_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('545_vehicle_transform',\n",
       "  array([[2.29973785e+02, 6.75993958e+01, 1.38858688e+00],\n",
       "         [1.67927027e-01, 9.13932037e+01, 6.67013467e-09]])),\n",
       " ('546_camera_transform',\n",
       "  array([[2.29925262e+02, 6.95943985e+01, 2.89444208e+00],\n",
       "         [1.67927027e-01, 9.13932037e+01, 6.67013467e-09]])),\n",
       " ('546_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.04073227],\n",
       "          [0.04074019],\n",
       "          [0.04074908]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.04080165],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00557476],\n",
       "          [0.00557476],\n",
       "          [0.00557476],\n",
       "          ...,\n",
       "          [0.00559795],\n",
       "          [0.00559801],\n",
       "          [0.00559807]],\n",
       "  \n",
       "         [[0.00555933],\n",
       "          [0.00555933],\n",
       "          [0.00555933],\n",
       "          ...,\n",
       "          [0.00558233],\n",
       "          [0.00558239],\n",
       "          [0.00558245]],\n",
       "  \n",
       "         [[0.00554395],\n",
       "          [0.00554395],\n",
       "          [0.00554401],\n",
       "          ...,\n",
       "          [0.00556684],\n",
       "          [0.0055669 ],\n",
       "          [0.00556695]]])),\n",
       " ('547_camera_transform',\n",
       "  array([[2.29925262e+02, 6.95943985e+01, 2.89444208e+00],\n",
       "         [1.67927027e-01, 9.13932037e+01, 6.67013467e-09]])),\n",
       " ('547_rgb', array([[[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 95,  94,  79],\n",
       "          [ 80,  84,  71],\n",
       "          [ 79,  83,  71]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [142, 110,  86],\n",
       "          [138, 119, 105],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [108,  97,  90],\n",
       "          [148, 119, 101],\n",
       "          [147, 122, 108]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 91,  86,  86],\n",
       "          [ 86,  83,  85],\n",
       "          [ 85,  85,  86],\n",
       "          ...,\n",
       "          [121, 121, 121],\n",
       "          [120, 120, 120],\n",
       "          [122, 120, 121]],\n",
       "  \n",
       "         [[ 91,  86,  88],\n",
       "          [ 90,  86,  88],\n",
       "          [ 86,  85,  86],\n",
       "          ...,\n",
       "          [120, 119, 120],\n",
       "          [117, 118, 119],\n",
       "          [120, 119, 119]],\n",
       "  \n",
       "         [[ 95,  93,  93],\n",
       "          [ 93,  90,  91],\n",
       "          [ 91,  86,  85],\n",
       "          ...,\n",
       "          [120, 120, 120],\n",
       "          [122, 120, 120],\n",
       "          [122, 120, 121]]], dtype=uint8)),\n",
       " ('548_camera_transform',\n",
       "  array([[2.29925262e+02, 6.95943985e+01, 2.89444208e+00],\n",
       "         [1.67927027e-01, 9.13932037e+01, 6.67013467e-09]])),\n",
       " ('548_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('549_vehicle_transform', array([[ -9.4376936 , 109.29647064,   1.3780973 ],\n",
       "         [  0.        ,  89.63746643,   0.        ]])),\n",
       " ('550_camera_transform', array([[ -9.42503929, 111.2964325 ,   2.87809753],\n",
       "         [  0.        ,  89.63746643,   0.        ]])),\n",
       " ('550_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00554556],\n",
       "          [0.00555348],\n",
       "          [0.00556147],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00554425],\n",
       "          [0.00555217],\n",
       "          [0.00556016],\n",
       "          ...,\n",
       "          [0.00531691],\n",
       "          [0.00531691],\n",
       "          [0.00531691]],\n",
       "  \n",
       "         [[0.00554287],\n",
       "          [0.00555086],\n",
       "          [0.00555879],\n",
       "          ...,\n",
       "          [0.00530213],\n",
       "          [0.00530213],\n",
       "          [0.00530213]]])),\n",
       " ('551_camera_transform', array([[ -9.42503929, 111.2964325 ,   2.87809753],\n",
       "         [  0.        ,  89.63746643,   0.        ]])),\n",
       " ('551_rgb', array([[[146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 85,  81,  79],\n",
       "          [ 85,  79,  79],\n",
       "          [ 86,  83,  81],\n",
       "          ...,\n",
       "          [ 95,  64,  53],\n",
       "          [ 95,  64,  53],\n",
       "          [ 93,  64,  53]],\n",
       "  \n",
       "         [[ 83,  79,  79],\n",
       "          [ 85,  81,  81],\n",
       "          [ 88,  83,  83],\n",
       "          ...,\n",
       "          [ 93,  64,  50],\n",
       "          [ 95,  66,  53],\n",
       "          [ 95,  64,  53]],\n",
       "  \n",
       "         [[ 86,  81,  79],\n",
       "          [ 86,  81,  81],\n",
       "          [ 85,  79,  79],\n",
       "          ...,\n",
       "          [ 95,  64,  53],\n",
       "          [ 95,  66,  53],\n",
       "          [ 95,  64,  53]]], dtype=uint8)),\n",
       " ('552_camera_transform', array([[ -9.42503929, 111.2964325 ,   2.87809753],\n",
       "         [  0.        ,  89.63746643,   0.        ]])),\n",
       " ('552_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('553_vehicle_transform',\n",
       "  array([[-7.78871689e+01, -8.14057255e+00,  1.34027886e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('554_camera_transform',\n",
       "  array([[-7.78926468e+01, -1.01496458e+01,  2.82809448e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('554_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00564539],\n",
       "          [0.00564545],\n",
       "          [0.00564545],\n",
       "          ...,\n",
       "          [0.00563824],\n",
       "          [0.00563818],\n",
       "          [0.00563812]],\n",
       "  \n",
       "         [[0.0056296 ],\n",
       "          [0.0056296 ],\n",
       "          [0.0056296 ],\n",
       "          ...,\n",
       "          [0.00562245],\n",
       "          [0.00562239],\n",
       "          [0.00562233]],\n",
       "  \n",
       "         [[0.0056138 ],\n",
       "          [0.00561386],\n",
       "          [0.00561386],\n",
       "          ...,\n",
       "          [0.00560677],\n",
       "          [0.00560671],\n",
       "          [0.00560665]]])),\n",
       " ('555_camera_transform',\n",
       "  array([[-7.78926468e+01, -1.01496458e+01,  2.82809448e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('555_rgb', array([[[148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          [145, 125, 112]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [146, 126, 113],\n",
       "          [146, 126, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 85,  85,  85],\n",
       "          [ 86,  88,  86],\n",
       "          [ 99,  91,  88],\n",
       "          ...,\n",
       "          [ 81,  81,  79],\n",
       "          [ 90,  88,  85],\n",
       "          [ 88,  86,  86]],\n",
       "  \n",
       "         [[ 90,  90,  88],\n",
       "          [ 96,  90,  90],\n",
       "          [ 91,  86,  88],\n",
       "          ...,\n",
       "          [ 86,  85,  85],\n",
       "          [ 91,  86,  88],\n",
       "          [ 90,  85,  86]],\n",
       "  \n",
       "         [[ 91,  86,  88],\n",
       "          [ 90,  86,  88],\n",
       "          [ 88,  86,  86],\n",
       "          ...,\n",
       "          [ 86,  85,  85],\n",
       "          [ 88,  86,  86],\n",
       "          [ 83,  85,  85]]], dtype=uint8)),\n",
       " ('556_camera_transform',\n",
       "  array([[-7.78926468e+01, -1.01496458e+01,  2.82809448e+00],\n",
       "         [-3.48271340e-01, -9.01562347e+01, -1.33404594e-08]])),\n",
       " ('556_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('557_vehicle_transform',\n",
       "  array([[   6.31678438,  -25.29715729,    1.3780998 ],\n",
       "         [   0.        , -108.0332489 ,    0.        ]])),\n",
       " ('558_camera_transform', array([[   5.69764709,  -27.19890976,    2.87809992],\n",
       "         [   0.        , -108.0332489 ,    0.        ]])),\n",
       " ('558_depth', array([[[0.02210909],\n",
       "          [0.02216721],\n",
       "          [0.02222568],\n",
       "          ...,\n",
       "          [0.03332043],\n",
       "          [0.03324318],\n",
       "          [0.03316629]],\n",
       "  \n",
       "         [[0.02210909],\n",
       "          [0.02216721],\n",
       "          [0.02222568],\n",
       "          ...,\n",
       "          [0.03332043],\n",
       "          [0.03324318],\n",
       "          [0.03316629]],\n",
       "  \n",
       "         [[0.02210909],\n",
       "          [0.02216721],\n",
       "          [0.02222568],\n",
       "          ...,\n",
       "          [0.03332043],\n",
       "          [0.03324318],\n",
       "          [0.03316629]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          ...,\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468]],\n",
       "  \n",
       "         [[0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          ...,\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351]]])),\n",
       " ('559_camera_transform', array([[   5.69764709,  -27.19890976,    2.87809992],\n",
       "         [   0.        , -108.0332489 ,    0.        ]])),\n",
       " ('559_rgb', array([[[ 16,  17,  15],\n",
       "          [ 28,  13,  13],\n",
       "          [ 50,  34,  22],\n",
       "          ...,\n",
       "          [ 66,  61,  66],\n",
       "          [ 66,  64,  69],\n",
       "          [ 66,  61,  66]],\n",
       "  \n",
       "         [[111,  71,  47],\n",
       "          [ 45,  36,  22],\n",
       "          [ 28,  13,  13],\n",
       "          ...,\n",
       "          [ 64,  61,  66],\n",
       "          [ 66,  64,  66],\n",
       "          [ 66,  64,  66]],\n",
       "  \n",
       "         [[117,  86,  71],\n",
       "          [126,  81,  54],\n",
       "          [ 41,  32,  27],\n",
       "          ...,\n",
       "          [ 64,  64,  66],\n",
       "          [ 66,  64,  66],\n",
       "          [ 64,  61,  66]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 50,  93,  73],\n",
       "          [ 64,  95,  72],\n",
       "          [ 56,  93,  70],\n",
       "          ...,\n",
       "          [ 86,  85,  88],\n",
       "          [ 85,  83,  86],\n",
       "          [ 93,  88,  86]],\n",
       "  \n",
       "         [[ 42,  81,  59],\n",
       "          [ 34,  79,  61],\n",
       "          [ 34,  75,  56],\n",
       "          ...,\n",
       "          [ 86,  88,  86],\n",
       "          [ 93,  91,  91],\n",
       "          [ 95,  93,  91]],\n",
       "  \n",
       "         [[ 34,  75,  50],\n",
       "          [ 28,  69,  50],\n",
       "          [ 34,  66,  46],\n",
       "          ...,\n",
       "          [ 77,  81,  81],\n",
       "          [ 86,  88,  86],\n",
       "          [ 91,  91,  90]]], dtype=uint8)),\n",
       " ('560_camera_transform', array([[   5.69764709,  -27.19890976,    2.87809992],\n",
       "         [   0.        , -108.0332489 ,    0.        ]])),\n",
       " ('560_ss', array([[[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('561_vehicle_transform',\n",
       "  array([[ 163.86421204, -193.8999939 ,    1.37809968],\n",
       "         [   0.        ,    0.        ,    0.        ]])),\n",
       " ('562_camera_transform', array([[ 165.86421204, -193.8999939 ,    2.87809968],\n",
       "         [   0.        ,    0.        ,    0.        ]])),\n",
       " ('562_depth', array([[[0.00833172],\n",
       "          [0.0083313 ],\n",
       "          [0.00833088],\n",
       "          ...,\n",
       "          [0.00671482],\n",
       "          [0.00670433],\n",
       "          [0.00669384]],\n",
       "  \n",
       "         [[0.00833172],\n",
       "          [0.0083313 ],\n",
       "          [0.00833088],\n",
       "          ...,\n",
       "          [0.00671482],\n",
       "          [0.00670433],\n",
       "          [0.00669384]],\n",
       "  \n",
       "         [[0.00833172],\n",
       "          [0.0083313 ],\n",
       "          [0.00833088],\n",
       "          ...,\n",
       "          [0.00671482],\n",
       "          [0.00670433],\n",
       "          [0.00669384]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('563_camera_transform', array([[ 165.86421204, -193.8999939 ,    2.87809968],\n",
       "         [   0.        ,    0.        ,    0.        ]])),\n",
       " ('563_rgb', array([[[ 83,  66,  61],\n",
       "          [ 79,  64,  59],\n",
       "          [ 75,  64,  59],\n",
       "          ...,\n",
       "          [ 91,  61,  46],\n",
       "          [ 88,  59,  46],\n",
       "          [ 88,  56,  42]],\n",
       "  \n",
       "         [[ 83,  66,  59],\n",
       "          [ 79,  64,  59],\n",
       "          [ 75,  64,  59],\n",
       "          ...,\n",
       "          [ 91,  59,  42],\n",
       "          [ 95,  64,  46],\n",
       "          [ 90,  61,  46]],\n",
       "  \n",
       "         [[ 81,  66,  59],\n",
       "          [ 77,  61,  56],\n",
       "          [ 75,  61,  56],\n",
       "          ...,\n",
       "          [ 86,  59,  42],\n",
       "          [ 86,  56,  42],\n",
       "          [ 93,  61,  42]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 81,  81,  85],\n",
       "          [ 83,  81,  83],\n",
       "          [ 83,  81,  83],\n",
       "          ...,\n",
       "          [119, 119, 119],\n",
       "          [120, 120, 120],\n",
       "          [120, 120, 120]],\n",
       "  \n",
       "         [[ 81,  81,  81],\n",
       "          [ 85,  79,  81],\n",
       "          [ 79,  81,  85],\n",
       "          ...,\n",
       "          [119, 119, 119],\n",
       "          [120, 120, 120],\n",
       "          [119, 119, 120]],\n",
       "  \n",
       "         [[ 71,  77,  79],\n",
       "          [ 71,  77,  81],\n",
       "          [ 81,  83,  85],\n",
       "          ...,\n",
       "          [118, 117, 119],\n",
       "          [120, 119, 120],\n",
       "          [120, 119, 120]]], dtype=uint8)),\n",
       " ('564_camera_transform', array([[ 165.86421204, -193.8999939 ,    2.87809968],\n",
       "         [   0.        ,    0.        ,    0.        ]])),\n",
       " ('564_ss', array([[[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]]], dtype=uint8)),\n",
       " ('565_vehicle_transform',\n",
       "  array([[ 142.52861023,   -6.351933  ,    1.3780998 ],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('566_camera_transform', array([[ 140.52883911,   -6.3818059 ,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('566_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00634003],\n",
       "          [0.00632983],\n",
       "          [0.00631964]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00634003],\n",
       "          [0.00632983],\n",
       "          [0.00631964]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00634003],\n",
       "          [0.00632983],\n",
       "          [0.00631964]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531691],\n",
       "          [0.00531691],\n",
       "          [0.00531691]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530213],\n",
       "          [0.00530213],\n",
       "          [0.00530213]]])),\n",
       " ('567_camera_transform', array([[ 140.52883911,   -6.3818059 ,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('567_rgb', array([[[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 81,  53,  38],\n",
       "          [ 71,  50,  38],\n",
       "          [ 73,  46,  34]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 81,  50,  34],\n",
       "          [ 69,  46,  34],\n",
       "          [ 71,  46,  34]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 75,  50,  38],\n",
       "          [ 71,  46,  38],\n",
       "          [ 73,  46,  34]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 91,  90,  88],\n",
       "          [ 91,  90,  88],\n",
       "          [ 90,  88,  88],\n",
       "          ...,\n",
       "          [120, 120, 121],\n",
       "          [121, 120, 121],\n",
       "          [121, 121, 121]],\n",
       "  \n",
       "         [[ 96,  90,  90],\n",
       "          [ 90,  86,  86],\n",
       "          [ 95,  88,  90],\n",
       "          ...,\n",
       "          [121, 120, 121],\n",
       "          [120, 120, 121],\n",
       "          [122, 121, 121]],\n",
       "  \n",
       "         [[ 91,  86,  86],\n",
       "          [ 91,  86,  86],\n",
       "          [ 90,  88,  86],\n",
       "          ...,\n",
       "          [122, 121, 122],\n",
       "          [121, 121, 122],\n",
       "          [119, 120, 120]]], dtype=uint8)),\n",
       " ('568_camera_transform', array([[ 140.52883911,   -6.3818059 ,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('568_ss', array([[[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]]], dtype=uint8)),\n",
       " ('569_vehicle_transform', array([[242.3661499 , -10.08180046,   1.3780998 ],\n",
       "         [  0.        , -88.60674286,   0.        ]])),\n",
       " ('570_camera_transform', array([[242.41477966, -12.08120823,   2.87809992],\n",
       "         [  0.        , -88.60674286,   0.        ]])),\n",
       " ('570_depth', array([[[0.03771514],\n",
       "          [0.03774822],\n",
       "          [0.03778053],\n",
       "          ...,\n",
       "          [0.00999403],\n",
       "          [0.00997841],\n",
       "          [0.00996286]],\n",
       "  \n",
       "         [[0.03773463],\n",
       "          [0.03776694],\n",
       "          [0.03780008],\n",
       "          ...,\n",
       "          [0.00999403],\n",
       "          [0.00997841],\n",
       "          [0.00996286]],\n",
       "  \n",
       "         [[0.03775329],\n",
       "          [0.03778649],\n",
       "          [0.03781969],\n",
       "          ...,\n",
       "          [0.00999403],\n",
       "          [0.00997841],\n",
       "          [0.00996286]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345]]])),\n",
       " ('571_camera_transform', array([[242.41477966, -12.08120823,   2.87809992],\n",
       "         [  0.        , -88.60674286,   0.        ]])),\n",
       " ('571_rgb', array([[[ 0,  0,  0],\n",
       "          [ 0,  0,  0],\n",
       "          [ 0,  0, 13],\n",
       "          ...,\n",
       "          [88, 81, 75],\n",
       "          [91, 79, 73],\n",
       "          [90, 77, 71]],\n",
       "  \n",
       "         [[ 0,  0,  0],\n",
       "          [ 0,  0,  0],\n",
       "          [ 0,  0, 13],\n",
       "          ...,\n",
       "          [85, 79, 75],\n",
       "          [93, 81, 73],\n",
       "          [96, 83, 75]],\n",
       "  \n",
       "         [[ 0,  0,  0],\n",
       "          [ 0,  0,  0],\n",
       "          [ 0,  0,  0],\n",
       "          ...,\n",
       "          [93, 81, 75],\n",
       "          [95, 83, 75],\n",
       "          [93, 81, 75]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[85, 85, 86],\n",
       "          [90, 86, 85],\n",
       "          [81, 81, 79],\n",
       "          ...,\n",
       "          [85, 86, 88],\n",
       "          [83, 85, 88],\n",
       "          [81, 83, 86]],\n",
       "  \n",
       "         [[85, 85, 88],\n",
       "          [93, 88, 90],\n",
       "          [90, 86, 86],\n",
       "          ...,\n",
       "          [91, 88, 86],\n",
       "          [88, 88, 86],\n",
       "          [85, 85, 85]],\n",
       "  \n",
       "         [[93, 88, 90],\n",
       "          [86, 85, 88],\n",
       "          [90, 90, 90],\n",
       "          ...,\n",
       "          [90, 86, 85],\n",
       "          [96, 88, 88],\n",
       "          [95, 88, 86]]], dtype=uint8)),\n",
       " ('572_camera_transform', array([[242.41477966, -12.08120823,   2.87809992],\n",
       "         [  0.        , -88.60674286,   0.        ]])),\n",
       " ('572_ss', array([[[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          [ 7]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          [ 7]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          [ 7]]], dtype=uint8)),\n",
       " ('573_vehicle_transform',\n",
       "  array([[  42.59590149,   -4.34429598,    1.3780998 ],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('574_camera_transform', array([[  40.59612656,   -4.37416887,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('574_depth', array([[[1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          ...,\n",
       "          [9.16594322e-03],\n",
       "          [9.15235336e-03],\n",
       "          [9.13882310e-03]],\n",
       "  \n",
       "         [[1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          ...,\n",
       "          [9.16594322e-03],\n",
       "          [9.15235336e-03],\n",
       "          [9.13882310e-03]],\n",
       "  \n",
       "         [[1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          ...,\n",
       "          [9.16594322e-03],\n",
       "          [9.15235336e-03],\n",
       "          [9.13882310e-03]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[1.77502643e-04],\n",
       "          [1.77800666e-04],\n",
       "          [1.78039085e-04],\n",
       "          ...,\n",
       "          [1.71542178e-04],\n",
       "          [1.71303759e-04],\n",
       "          [1.71005736e-04]],\n",
       "  \n",
       "         [[1.77502643e-04],\n",
       "          [1.77800666e-04],\n",
       "          [1.78039085e-04],\n",
       "          ...,\n",
       "          [1.71542178e-04],\n",
       "          [1.71303759e-04],\n",
       "          [1.71005736e-04]],\n",
       "  \n",
       "         [[1.77502643e-04],\n",
       "          [1.77800666e-04],\n",
       "          [1.78039085e-04],\n",
       "          ...,\n",
       "          [1.71542178e-04],\n",
       "          [1.71303759e-04],\n",
       "          [1.71005736e-04]]])),\n",
       " ('575_camera_transform', array([[  40.59612656,   -4.37416887,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('575_rgb', array([[[148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 83,  53,  38],\n",
       "          [ 81,  53,  38],\n",
       "          [ 77,  50,  34]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 71,  46,  34],\n",
       "          [ 83,  53,  38],\n",
       "          [ 86,  56,  42]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 79,  50,  38],\n",
       "          [ 83,  53,  38],\n",
       "          [ 88,  56,  42]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 13,  13,   0],\n",
       "          [ 13,  13,   0],\n",
       "          [ 13,  13,  13],\n",
       "          ...,\n",
       "          [ 13,  13,  13],\n",
       "          [ 13,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[ 13,  13,  13],\n",
       "          [ 13,  13,  13],\n",
       "          [ 13,  13,  13],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 13,  13,  13],\n",
       "          [ 13,  13,  13]],\n",
       "  \n",
       "         [[  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 13,  13,  13],\n",
       "          [ 13,  13,  13]]], dtype=uint8)),\n",
       " ('576_camera_transform', array([[  40.59612656,   -4.37416887,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('576_ss', array([[[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[10],\n",
       "          [10],\n",
       "          [10],\n",
       "          ...,\n",
       "          [10],\n",
       "          [10],\n",
       "          [10]],\n",
       "  \n",
       "         [[10],\n",
       "          [10],\n",
       "          [10],\n",
       "          ...,\n",
       "          [10],\n",
       "          [10],\n",
       "          [10]],\n",
       "  \n",
       "         [[10],\n",
       "          [10],\n",
       "          [10],\n",
       "          ...,\n",
       "          [10],\n",
       "          [10],\n",
       "          [10]]], dtype=uint8)),\n",
       " ('577_vehicle_transform', array([[  5.6847887 , 162.41900635,   1.37809992],\n",
       "         [  0.        , -90.3625412 ,   0.        ]])),\n",
       " ('578_camera_transform', array([[  5.67213345, 160.41903687,   2.87809992],\n",
       "         [  0.        , -90.3625412 ,   0.        ]])),\n",
       " ('578_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.0119729 ],\n",
       "          [0.01197785],\n",
       "          [0.0119828 ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01185745],\n",
       "          [0.01196832],\n",
       "          [0.01197326]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01185268],\n",
       "          [0.01185179],\n",
       "          [0.01185083]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531691],\n",
       "          [0.00531691],\n",
       "          [0.00531691]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530213],\n",
       "          [0.00530213],\n",
       "          [0.00530213]]])),\n",
       " ('579_camera_transform', array([[  5.67213345, 160.41903687,   2.87809992],\n",
       "         [  0.        , -90.3625412 ,   0.        ]])),\n",
       " ('579_rgb', array([[[148, 126, 113],\n",
       "          [148, 126, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 22,  13,  13],\n",
       "          [ 22,  13,  13],\n",
       "          [ 13,  13,   0]],\n",
       "  \n",
       "         [[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 22,  13,  13],\n",
       "          [ 22,  13,  13]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,  13,  13],\n",
       "          [ 13,  13,  13],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 83,  86,  86],\n",
       "          [ 83,  90,  88],\n",
       "          [ 86,  90,  88],\n",
       "          ...,\n",
       "          [ 59,  99,  83],\n",
       "          [ 53,  96,  81],\n",
       "          [ 53,  96,  81]],\n",
       "  \n",
       "         [[ 90,  93,  91],\n",
       "          [ 90,  91,  88],\n",
       "          [ 90,  88,  86],\n",
       "          ...,\n",
       "          [ 61, 101,  85],\n",
       "          [ 53,  96,  81],\n",
       "          [ 50,  93,  75]],\n",
       "  \n",
       "         [[ 86,  88,  85],\n",
       "          [ 88,  88,  85],\n",
       "          [ 88,  90,  86],\n",
       "          ...,\n",
       "          [ 53,  96,  77],\n",
       "          [ 53,  96,  77],\n",
       "          [ 50,  91,  73]]], dtype=uint8)),\n",
       " ('580_camera_transform', array([[  5.67213345, 160.41903687,   2.87809992],\n",
       "         [  0.        , -90.3625412 ,   0.        ]])),\n",
       " ('580_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('581_vehicle_transform', array([[-21.25251389,  11.10501289,   1.37809992],\n",
       "         [  0.        ,  61.80682755,   0.        ]])),\n",
       " ('582_camera_transform', array([[-20.30762291,  12.867733  ,   2.87809992],\n",
       "         [  0.        ,  61.80682755,   0.        ]])),\n",
       " ('582_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00808549],\n",
       "          [0.00808108],\n",
       "          [0.00807667]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00808549],\n",
       "          [0.00808108],\n",
       "          [0.00807667]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00808549],\n",
       "          [0.00808108],\n",
       "          [0.00807667]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00532872],\n",
       "          [0.00532872],\n",
       "          [0.00532883]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531387],\n",
       "          [0.00531387],\n",
       "          [0.00531387]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00529915],\n",
       "          [0.00529915],\n",
       "          [0.00529909]]])),\n",
       " ('583_camera_transform', array([[-20.30762291,  12.867733  ,   2.87809992],\n",
       "         [  0.        ,  61.80682755,   0.        ]])),\n",
       " ('583_rgb', array([[[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 13,   0,   0],\n",
       "          [ 13,  13,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 13,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 13,   0,   0],\n",
       "          [ 13,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 88,  90,  86],\n",
       "          [ 83,  86,  85],\n",
       "          [ 85,  86,  86],\n",
       "          ...,\n",
       "          [ 90,  69,  64],\n",
       "          [ 88,  66,  61],\n",
       "          [ 88,  66,  61]],\n",
       "  \n",
       "         [[ 90,  86,  85],\n",
       "          [ 79,  81,  85],\n",
       "          [ 83,  83,  86],\n",
       "          ...,\n",
       "          [ 83,  61,  56],\n",
       "          [ 85,  61,  56],\n",
       "          [ 86,  64,  59]],\n",
       "  \n",
       "         [[ 81,  79,  85],\n",
       "          [ 83,  81,  85],\n",
       "          [ 90,  85,  85],\n",
       "          ...,\n",
       "          [ 85,  64,  59],\n",
       "          [ 81,  59,  56],\n",
       "          [ 85,  61,  56]]], dtype=uint8)),\n",
       " ('584_camera_transform', array([[-20.30762291,  12.867733  ,   2.87809992],\n",
       "         [  0.        ,  61.80682755,   0.        ]])),\n",
       " ('584_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('585_vehicle_transform', array([[  5.85420084, 189.19288635,   1.37809992],\n",
       "         [  0.        , -90.3625412 ,   0.        ]])),\n",
       " ('586_camera_transform', array([[  5.84154606, 187.19293213,   2.87809992],\n",
       "         [  0.        , -90.3625412 ,   0.        ]])),\n",
       " ('586_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01416069],\n",
       "          [0.01414961],\n",
       "          [0.01413864]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01417208],\n",
       "          [0.01416034],\n",
       "          [0.01414865]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01416963],\n",
       "          [0.01415807],\n",
       "          [0.01414639]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          ...,\n",
       "          [0.00530213],\n",
       "          [0.00530213],\n",
       "          [0.00530213]]])),\n",
       " ('587_camera_transform', array([[  5.84154606, 187.19293213,   2.87809992],\n",
       "         [  0.        , -90.3625412 ,   0.        ]])),\n",
       " ('587_rgb', array([[[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,  13],\n",
       "          [ 13,  13,  13],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,  22],\n",
       "          [ 13,  13,  28],\n",
       "          [ 13,  13,  28]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 13,  13,  22],\n",
       "          [ 13,  13,  22],\n",
       "          [  0,   0,  13]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 85,  86,  86],\n",
       "          [ 86,  88,  86],\n",
       "          [ 88,  90,  88],\n",
       "          ...,\n",
       "          [ 42,  86,  71],\n",
       "          [ 42,  85,  69],\n",
       "          [ 50,  90,  71]],\n",
       "  \n",
       "         [[ 85,  81,  85],\n",
       "          [ 81,  81,  85],\n",
       "          [ 85,  86,  86],\n",
       "          ...,\n",
       "          [ 53,  91,  71],\n",
       "          [ 64, 102,  83],\n",
       "          [ 50,  95,  75]],\n",
       "  \n",
       "         [[ 81,  79,  81],\n",
       "          [ 79,  77,  81],\n",
       "          [ 86,  85,  86],\n",
       "          ...,\n",
       "          [ 42,  86,  66],\n",
       "          [ 61, 101,  81],\n",
       "          [ 73, 110,  90]]], dtype=uint8)),\n",
       " ('588_camera_transform', array([[  5.84154606, 187.19293213,   2.87809992],\n",
       "         [  0.        , -90.3625412 ,   0.        ]])),\n",
       " ('588_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('589_vehicle_transform',\n",
       "  array([[ 7.94949112e+01, -7.16148453e+01,  9.37779045e+00],\n",
       "         [-1.90398335e-01,  9.20240860e+01,  2.00104306e-08]])),\n",
       " ('590_camera_transform',\n",
       "  array([[ 7.94240952e+01, -6.96111221e+01,  1.08711367e+01],\n",
       "         [-1.90398335e-01,  9.20240860e+01,  2.00104306e-08]])),\n",
       " ('590_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00684303],\n",
       "          [0.00684303],\n",
       "          [0.00684303],\n",
       "          ...,\n",
       "          [0.00646645],\n",
       "          [0.00646651],\n",
       "          [0.00646663]],\n",
       "  \n",
       "         [[0.00681669],\n",
       "          [0.00681669],\n",
       "          [0.00681669],\n",
       "          ...,\n",
       "          [0.00644141],\n",
       "          [0.00644147],\n",
       "          [0.00644153]],\n",
       "  \n",
       "         [[0.00679052],\n",
       "          [0.00679052],\n",
       "          [0.00679052],\n",
       "          ...,\n",
       "          [0.0064165 ],\n",
       "          [0.00641662],\n",
       "          [0.00641668]]])),\n",
       " ('591_camera_transform',\n",
       "  array([[ 7.94240952e+01, -6.96111221e+01,  1.08711367e+01],\n",
       "         [-1.90398335e-01,  9.20240860e+01,  2.00104306e-08]])),\n",
       " ('591_rgb', array([[[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         [[145, 124, 112],\n",
       "          [145, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 88,  88,  88],\n",
       "          [ 90,  88,  88],\n",
       "          [ 91,  88,  88],\n",
       "          ...,\n",
       "          [122, 120, 121],\n",
       "          [121, 120, 120],\n",
       "          [120, 120, 120]],\n",
       "  \n",
       "         [[ 85,  81,  83],\n",
       "          [ 88,  83,  85],\n",
       "          [ 95,  88,  90],\n",
       "          ...,\n",
       "          [122, 120, 121],\n",
       "          [122, 120, 121],\n",
       "          [121, 120, 121]],\n",
       "  \n",
       "         [[ 91,  88,  86],\n",
       "          [ 96,  90,  88],\n",
       "          [ 86,  85,  85],\n",
       "          ...,\n",
       "          [121, 117, 117],\n",
       "          [121, 120, 121],\n",
       "          [121, 120, 121]]], dtype=uint8)),\n",
       " ('592_camera_transform',\n",
       "  array([[ 7.94240952e+01, -6.96111221e+01,  1.08711367e+01],\n",
       "         [-1.90398335e-01,  9.20240860e+01,  2.00104306e-08]])),\n",
       " ('592_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('593_vehicle_transform', array([[-77.52698517, 123.92638397,   1.41846085],\n",
       "         [  0.39505813, -90.15624237,   0.        ]])),\n",
       " ('594_camera_transform', array([[-77.53240967, 121.93678284,   2.93221521],\n",
       "         [  0.39505813, -90.15624237,   0.        ]])),\n",
       " ('594_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01703262],\n",
       "          [0.01700586],\n",
       "          [0.01697916]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01703262],\n",
       "          [0.01700586],\n",
       "          [0.01697916]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01703262],\n",
       "          [0.01700586],\n",
       "          [0.01697916]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00555855],\n",
       "          [0.00555855],\n",
       "          [0.00555849],\n",
       "          ...,\n",
       "          [0.00556719],\n",
       "          [0.00556719],\n",
       "          [0.00556719]],\n",
       "  \n",
       "         [[0.00554317],\n",
       "          [0.00554311],\n",
       "          [0.00554311],\n",
       "          ...,\n",
       "          [0.00555176],\n",
       "          [0.00555176],\n",
       "          [0.00555176]],\n",
       "  \n",
       "         [[0.00552785],\n",
       "          [0.00552785],\n",
       "          [0.00552785],\n",
       "          ...,\n",
       "          [0.00553644],\n",
       "          [0.00553644],\n",
       "          [0.00553644]]])),\n",
       " ('595_camera_transform', array([[-77.53240967, 121.93678284,   2.93221521],\n",
       "         [  0.39505813, -90.15624237,   0.        ]])),\n",
       " ('595_rgb', array([[[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 28,  22,  53],\n",
       "          [ 53,  50,  77],\n",
       "          [ 59,  59,  88]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 53,  50,  85],\n",
       "          [ 53,  53,  86],\n",
       "          [ 50,  50,  81]],\n",
       "  \n",
       "         [[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          ...,\n",
       "          [ 50,  46,  79],\n",
       "          [ 50,  42,  73],\n",
       "          [ 34,  34,  66]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 85,  88,  86],\n",
       "          [ 88,  90,  88],\n",
       "          [ 91,  90,  88],\n",
       "          ...,\n",
       "          [ 86,  86,  88],\n",
       "          [ 83,  86,  85],\n",
       "          [ 86,  88,  85]],\n",
       "  \n",
       "         [[ 86,  83,  83],\n",
       "          [ 88,  85,  83],\n",
       "          [ 85,  83,  83],\n",
       "          ...,\n",
       "          [ 86,  85,  86],\n",
       "          [ 88,  86,  86],\n",
       "          [ 86,  85,  85]],\n",
       "  \n",
       "         [[ 90,  86,  86],\n",
       "          [ 95,  88,  88],\n",
       "          [ 90,  86,  86],\n",
       "          ...,\n",
       "          [ 98,  90,  85],\n",
       "          [ 99,  91,  88],\n",
       "          [ 93,  90,  88]]], dtype=uint8)),\n",
       " ('596_camera_transform', array([[-77.53240967, 121.93678284,   2.93221521],\n",
       "         [  0.39505813, -90.15624237,   0.        ]])),\n",
       " ('596_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('597_vehicle_transform',\n",
       "  array([[  52.56225586,   -4.34429598,    1.37810099],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('598_camera_transform', array([[  50.56248093,   -4.37416887,    2.87810111],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('598_depth', array([[[0.00385135],\n",
       "          [0.00385642],\n",
       "          [0.00386143],\n",
       "          ...,\n",
       "          [0.00957376],\n",
       "          [0.00955957],\n",
       "          [0.00954551]],\n",
       "  \n",
       "         [[0.00385177],\n",
       "          [0.00385678],\n",
       "          [0.00386184],\n",
       "          ...,\n",
       "          [0.00957376],\n",
       "          [0.00955957],\n",
       "          [0.00954551]],\n",
       "  \n",
       "         [[0.00385213],\n",
       "          [0.0038572 ],\n",
       "          [0.0038622 ],\n",
       "          ...,\n",
       "          [0.00957376],\n",
       "          [0.00955957],\n",
       "          [0.00954551]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          ...,\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463]],\n",
       "  \n",
       "         [[0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          ...,\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345]]])),\n",
       " ('599_camera_transform', array([[  50.56248093,   -4.37416887,    2.87810111],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('599_rgb', array([[[  0,  13,   0],\n",
       "          [  0,  28,   0],\n",
       "          [ 13,  22,   0],\n",
       "          ...,\n",
       "          [ 75,  50,  38],\n",
       "          [ 81,  53,  38],\n",
       "          [ 73,  46,  34]],\n",
       "  \n",
       "         [[  0,  13,   0],\n",
       "          [  0,  22,   0],\n",
       "          [ 13,  28,  13],\n",
       "          ...,\n",
       "          [ 71,  46,  34],\n",
       "          [ 75,  46,  34],\n",
       "          [ 73,  46,  34]],\n",
       "  \n",
       "         [[  0,  22,   0],\n",
       "          [  0,  22,   0],\n",
       "          [ 13,  34,  13],\n",
       "          ...,\n",
       "          [ 90,  59,  42],\n",
       "          [ 77,  53,  42],\n",
       "          [ 73,  46,  34]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[121, 120, 120],\n",
       "          [120, 119, 120],\n",
       "          [121, 120, 121],\n",
       "          ...,\n",
       "          [ 83,  83,  85],\n",
       "          [ 83,  81,  85],\n",
       "          [ 81,  83,  85]],\n",
       "  \n",
       "         [[119, 119, 120],\n",
       "          [120, 120, 121],\n",
       "          [122, 120, 121],\n",
       "          ...,\n",
       "          [ 91,  86,  85],\n",
       "          [ 90,  86,  86],\n",
       "          [ 95,  91,  90]],\n",
       "  \n",
       "         [[122, 121, 121],\n",
       "          [120, 119, 120],\n",
       "          [121, 120, 120],\n",
       "          ...,\n",
       "          [ 83,  85,  85],\n",
       "          [ 86,  85,  86],\n",
       "          [ 91,  90,  88]]], dtype=uint8)),\n",
       " ('600_camera_transform', array([[  50.56248093,   -4.37416887,    2.87810111],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('600_ss', array([[[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 8],\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          [ 7]],\n",
       "  \n",
       "         [[ 8],\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          [ 7]],\n",
       "  \n",
       "         [[ 8],\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          [ 7]]], dtype=uint8)),\n",
       " ('601_vehicle_transform',\n",
       "  array([[ 150.36587524, -125.78666687,    9.37810326],\n",
       "         [   0.        ,   90.99648285,    0.        ]])),\n",
       " ('602_camera_transform', array([[ 150.33108521, -123.78697205,   10.87810326],\n",
       "         [   0.        ,   90.99648285,    0.        ]])),\n",
       " ('602_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.02263039],\n",
       "          [0.02479065],\n",
       "          [0.02259201]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.02365834],\n",
       "          [0.0236187 ],\n",
       "          [0.02476502]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.022578  ],\n",
       "          [0.02255887],\n",
       "          [0.02254009]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345]]])),\n",
       " ('603_camera_transform', array([[ 150.33108521, -123.78697205,   10.87810326],\n",
       "         [   0.        ,   90.99648285,    0.        ]])),\n",
       " ('603_rgb', array([[[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 22,  34,  22],\n",
       "          [ 13,  28,  13],\n",
       "          [ 13,  28,  13]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [  0,  28,  13],\n",
       "          [  0,  34,  13],\n",
       "          [ 13,  22,  13]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 22,  50,  28],\n",
       "          [ 22,  34,  22],\n",
       "          [ 22,  53,  42]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 93,  90,  90],\n",
       "          [ 86,  86,  88],\n",
       "          [ 86,  88,  91],\n",
       "          ...,\n",
       "          [ 93,  90,  91],\n",
       "          [ 91,  88,  88],\n",
       "          [ 91,  88,  90]],\n",
       "  \n",
       "         [[ 81,  85,  86],\n",
       "          [ 85,  83,  86],\n",
       "          [ 90,  86,  88],\n",
       "          ...,\n",
       "          [ 83,  83,  85],\n",
       "          [ 85,  83,  86],\n",
       "          [ 86,  81,  86]],\n",
       "  \n",
       "         [[ 93,  86,  90],\n",
       "          [ 86,  83,  86],\n",
       "          [ 88,  85,  86],\n",
       "          ...,\n",
       "          [ 85,  83,  85],\n",
       "          [ 88,  85,  86],\n",
       "          [ 86,  85,  86]]], dtype=uint8)),\n",
       " ('604_camera_transform', array([[ 150.33108521, -123.78697205,   10.87810326],\n",
       "         [   0.        ,   90.99648285,    0.        ]])),\n",
       " ('604_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('605_vehicle_transform',\n",
       "  array([[  -6.68225574, -204.67431641,    1.37809992],\n",
       "         [   0.        , -178.56047058,    0.        ]])),\n",
       " ('606_camera_transform', array([[  -8.68162441, -204.72454834,    2.87809992],\n",
       "         [   0.        , -178.56047058,    0.        ]])),\n",
       " ('606_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01645666],\n",
       "          [0.01645732],\n",
       "          [0.01645798]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01645684],\n",
       "          [0.0164575 ],\n",
       "          [0.01645815]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01645702],\n",
       "          [0.01645768],\n",
       "          [0.01645833]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345]]])),\n",
       " ('607_camera_transform', array([[  -8.68162441, -204.72454834,    2.87809992],\n",
       "         [   0.        , -178.56047058,    0.        ]])),\n",
       " ('607_rgb', array([[[148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 13,   0,   0],\n",
       "          [ 13,  13,  13],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 13,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 13,   0,   0],\n",
       "          [ 13,  13,  13],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 90,  88,  88],\n",
       "          [ 86,  85,  85],\n",
       "          [ 86,  85,  85],\n",
       "          ...,\n",
       "          [ 90,  91,  90],\n",
       "          [ 93,  91,  90],\n",
       "          [ 93,  91,  90]],\n",
       "  \n",
       "         [[ 86,  85,  85],\n",
       "          [ 90,  86,  85],\n",
       "          [ 86,  85,  81],\n",
       "          ...,\n",
       "          [ 86,  90,  90],\n",
       "          [ 90,  91,  90],\n",
       "          [ 90,  88,  88]],\n",
       "  \n",
       "         [[ 90,  88,  85],\n",
       "          [ 88,  85,  83],\n",
       "          [ 85,  85,  83],\n",
       "          ...,\n",
       "          [ 86,  85,  86],\n",
       "          [ 93,  91,  91],\n",
       "          [ 91,  90,  91]]], dtype=uint8)),\n",
       " ('608_camera_transform', array([[  -8.68162441, -204.72454834,    2.87809992],\n",
       "         [   0.        , -178.56047058,    0.        ]])),\n",
       " ('608_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('609_vehicle_transform',\n",
       "  array([[ 143.1934967 , -204.40899658,    1.3780998 ],\n",
       "         [   0.        , -178.56047058,    0.        ]])),\n",
       " ('610_camera_transform', array([[ 141.19412231, -204.45922852,    2.87809992],\n",
       "         [   0.        , -178.56047058,    0.        ]])),\n",
       " ('610_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.0151943 ],\n",
       "          [0.0151943 ],\n",
       "          [0.0151943 ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01523721],\n",
       "          [0.01523721],\n",
       "          [0.01523703]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01528019],\n",
       "          [0.01528019],\n",
       "          [0.01528019]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('611_camera_transform', array([[ 141.19412231, -204.45922852,    2.87809992],\n",
       "         [   0.        , -178.56047058,    0.        ]])),\n",
       " ('611_rgb', array([[[148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 13,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 79,  81,  83],\n",
       "          [ 85,  85,  85],\n",
       "          [ 86,  86,  86],\n",
       "          ...,\n",
       "          [122, 121, 122],\n",
       "          [121, 120, 121],\n",
       "          [122, 121, 121]],\n",
       "  \n",
       "         [[ 88,  88,  86],\n",
       "          [ 90,  90,  88],\n",
       "          [ 88,  88,  88],\n",
       "          ...,\n",
       "          [124, 121, 122],\n",
       "          [124, 122, 122],\n",
       "          [122, 121, 122]],\n",
       "  \n",
       "         [[ 81,  83,  83],\n",
       "          [ 75,  79,  83],\n",
       "          [ 75,  81,  83],\n",
       "          ...,\n",
       "          [124, 120, 121],\n",
       "          [125, 122, 122],\n",
       "          [124, 121, 122]]], dtype=uint8)),\n",
       " ('612_camera_transform', array([[ 141.19412231, -204.45922852,    2.87809992],\n",
       "         [   0.        , -178.56047058,    0.        ]])),\n",
       " ('612_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('613_vehicle_transform',\n",
       "  array([[-2.41062379e+00,  2.07505676e+02,  1.37810218e+00],\n",
       "         [ 0.00000000e+00, -1.42974854e-01,  0.00000000e+00]])),\n",
       " ('614_camera_transform',\n",
       "  array([[-4.10630018e-01,  2.07500671e+02,  2.87810230e+00],\n",
       "         [ 0.00000000e+00, -1.42974854e-01,  0.00000000e+00]])),\n",
       " ('614_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558907],\n",
       "          [0.00558907],\n",
       "          [0.00558907],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('615_camera_transform',\n",
       "  array([[-4.10630018e-01,  2.07500671e+02,  2.87810230e+00],\n",
       "         [ 0.00000000e+00, -1.42974854e-01,  0.00000000e+00]])),\n",
       " ('615_rgb', array([[[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [145, 124, 112]],\n",
       "  \n",
       "         [[146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [147, 126, 113],\n",
       "          ...,\n",
       "          [145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [145, 125, 112]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 83,  83,  86],\n",
       "          [ 83,  85,  86],\n",
       "          [ 86,  86,  88],\n",
       "          ...,\n",
       "          [124, 120, 120],\n",
       "          [122, 120, 120],\n",
       "          [119, 119, 119]],\n",
       "  \n",
       "         [[ 91,  88,  90],\n",
       "          [ 85,  85,  86],\n",
       "          [ 85,  85,  88],\n",
       "          ...,\n",
       "          [121, 120, 120],\n",
       "          [122, 120, 121],\n",
       "          [120, 119, 120]],\n",
       "  \n",
       "         [[ 86,  83,  86],\n",
       "          [ 85,  83,  85],\n",
       "          [ 88,  85,  86],\n",
       "          ...,\n",
       "          [120, 120, 120],\n",
       "          [121, 120, 120],\n",
       "          [121, 120, 120]]], dtype=uint8)),\n",
       " ('616_camera_transform',\n",
       "  array([[-4.10630018e-01,  2.07500671e+02,  2.87810230e+00],\n",
       "         [ 0.00000000e+00, -1.42974854e-01,  0.00000000e+00]])),\n",
       " ('616_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('617_vehicle_transform', array([[  4.92610264,  72.03030396,   1.37807798],\n",
       "         [  0.        , -88.89123535,   0.        ]])),\n",
       " ('618_camera_transform', array([[  4.96480322,  70.0306778 ,   2.87807798],\n",
       "         [  0.        , -88.89123535,   0.        ]])),\n",
       " ('618_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00533187],\n",
       "          [0.00533187],\n",
       "          [0.00533193]],\n",
       "  \n",
       "         [[0.00558895],\n",
       "          [0.00558895],\n",
       "          [0.00558895],\n",
       "          ...,\n",
       "          [0.00531703],\n",
       "          [0.00531703],\n",
       "          [0.00531703]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530225],\n",
       "          [0.00530225],\n",
       "          [0.00530225]]])),\n",
       " ('619_camera_transform', array([[  4.96480322,  70.0306778 ,   2.87807798],\n",
       "         [  0.        , -88.89123535,   0.        ]])),\n",
       " ('619_rgb', array([[[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          [145, 125, 112]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [146, 126, 113],\n",
       "          [146, 126, 113],\n",
       "          [146, 125, 112]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 81,  83,  85],\n",
       "          [ 83,  85,  86],\n",
       "          [ 86,  86,  88],\n",
       "          ...,\n",
       "          [104, 101, 104],\n",
       "          [101,  99, 101],\n",
       "          [101,  99, 101]],\n",
       "  \n",
       "         [[ 90,  93,  90],\n",
       "          [ 98,  95,  90],\n",
       "          [ 93,  90,  88],\n",
       "          ...,\n",
       "          [104, 101, 102],\n",
       "          [104, 101, 104],\n",
       "          [104, 101, 102]],\n",
       "  \n",
       "         [[ 93,  93,  90],\n",
       "          [ 85,  88,  86],\n",
       "          [ 86,  88,  86],\n",
       "          ...,\n",
       "          [104, 102, 104],\n",
       "          [105, 104, 105],\n",
       "          [105, 102, 105]]], dtype=uint8)),\n",
       " ('620_camera_transform', array([[  4.96480322,  70.0306778 ,   2.87807798],\n",
       "         [  0.        , -88.89123535,   0.        ]])),\n",
       " ('620_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('621_vehicle_transform', array([[231.2709198 ,  14.26545238,   1.3780998 ],\n",
       "         [  0.        ,  91.39320374,   0.        ]])),\n",
       " ('622_camera_transform', array([[231.22227478,  16.26486206,   2.87809992],\n",
       "         [  0.        ,  91.39320374,   0.        ]])),\n",
       " ('622_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531691],\n",
       "          [0.00531691],\n",
       "          [0.00531691]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530213],\n",
       "          [0.00530213],\n",
       "          [0.00530213]]])),\n",
       " ('623_camera_transform', array([[231.22227478,  16.26486206,   2.87809992],\n",
       "         [  0.        ,  91.39320374,   0.        ]])),\n",
       " ('623_rgb', array([[[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 93,  90,  91],\n",
       "          [ 91,  88,  90],\n",
       "          [ 91,  90,  88],\n",
       "          ...,\n",
       "          [ 99,  99,  99],\n",
       "          [ 99,  98,  99],\n",
       "          [ 98,  99,  99]],\n",
       "  \n",
       "         [[ 91,  88,  90],\n",
       "          [ 93,  90,  90],\n",
       "          [ 96,  93,  91],\n",
       "          ...,\n",
       "          [ 96,  95,  96],\n",
       "          [ 98,  98,  98],\n",
       "          [ 99,  98,  99]],\n",
       "  \n",
       "         [[ 85,  83,  85],\n",
       "          [ 88,  86,  86],\n",
       "          [ 96,  90,  88],\n",
       "          ...,\n",
       "          [ 95,  95,  96],\n",
       "          [ 96,  96,  98],\n",
       "          [ 96,  98,  98]]], dtype=uint8)),\n",
       " ('624_camera_transform', array([[231.22227478,  16.26486206,   2.87809992],\n",
       "         [  0.        ,  91.39320374,   0.        ]])),\n",
       " ('624_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('625_vehicle_transform',\n",
       "  array([[  94.79740906, -191.62080383,    1.37809992],\n",
       "         [   0.        ,    1.43954718,    0.        ]])),\n",
       " ('626_camera_transform', array([[  96.79677582, -191.57054138,    2.87809992],\n",
       "         [   0.        ,    1.43954718,    0.        ]])),\n",
       " ('626_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01095533],\n",
       "          [0.01093853],\n",
       "          [0.01092184]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01095533],\n",
       "          [0.01093853],\n",
       "          [0.01092184]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01095533],\n",
       "          [0.01093853],\n",
       "          [0.01092184]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00533187],\n",
       "          [0.00533187],\n",
       "          [0.00533187]],\n",
       "  \n",
       "         [[0.00558907],\n",
       "          [0.00558907],\n",
       "          [0.00558907],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('627_camera_transform', array([[  96.79677582, -191.57054138,    2.87809992],\n",
       "         [   0.        ,    1.43954718,    0.        ]])),\n",
       " ('627_rgb', array([[[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 93,  61,  46],\n",
       "          [ 95,  61,  46],\n",
       "          [ 91,  59,  42]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [ 91,  59,  42],\n",
       "          [ 91,  59,  42],\n",
       "          [ 90,  59,  42]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 90,  59,  42],\n",
       "          [ 91,  59,  42],\n",
       "          [ 90,  56,  42]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 86,  85,  85],\n",
       "          [ 88,  85,  86],\n",
       "          [ 83,  85,  85],\n",
       "          ...,\n",
       "          [121, 119, 120],\n",
       "          [122, 120, 120],\n",
       "          [122, 120, 120]],\n",
       "  \n",
       "         [[ 91,  85,  86],\n",
       "          [ 86,  83,  85],\n",
       "          [ 88,  83,  83],\n",
       "          ...,\n",
       "          [120, 119, 120],\n",
       "          [122, 120, 121],\n",
       "          [121, 119, 120]],\n",
       "  \n",
       "         [[ 79,  79,  81],\n",
       "          [ 81,  79,  83],\n",
       "          [ 86,  83,  83],\n",
       "          ...,\n",
       "          [119, 118, 119],\n",
       "          [120, 119, 119],\n",
       "          [119, 118, 118]]], dtype=uint8)),\n",
       " ('628_camera_transform', array([[  96.79677582, -191.57054138,    2.87809992],\n",
       "         [   0.        ,    1.43954718,    0.        ]])),\n",
       " ('628_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('629_vehicle_transform',\n",
       "  array([[ 220.26509094,   -1.69034624,    1.3780998 ],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('630_camera_transform', array([[ 218.26530457,   -1.72021925,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('630_depth', array([[[0.00259143],\n",
       "          [0.00259346],\n",
       "          [0.00259548],\n",
       "          ...,\n",
       "          [0.00996852],\n",
       "          [0.0099529 ],\n",
       "          [0.00993735]],\n",
       "  \n",
       "         [[0.0025925 ],\n",
       "          [0.00259453],\n",
       "          [0.00259656],\n",
       "          ...,\n",
       "          [0.00996852],\n",
       "          [0.0099529 ],\n",
       "          [0.00993735]],\n",
       "  \n",
       "         [[0.00259358],\n",
       "          [0.0025956 ],\n",
       "          [0.00259763],\n",
       "          ...,\n",
       "          [0.00996852],\n",
       "          [0.0099529 ],\n",
       "          [0.00993735]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.0001775 ],\n",
       "          [0.0001778 ],\n",
       "          [0.00017804],\n",
       "          ...,\n",
       "          [0.00017154],\n",
       "          [0.0001713 ],\n",
       "          [0.00017101]],\n",
       "  \n",
       "         [[0.0001775 ],\n",
       "          [0.0001778 ],\n",
       "          [0.00017804],\n",
       "          ...,\n",
       "          [0.00017154],\n",
       "          [0.0001713 ],\n",
       "          [0.00017101]],\n",
       "  \n",
       "         [[0.0001775 ],\n",
       "          [0.0001778 ],\n",
       "          [0.00017804],\n",
       "          ...,\n",
       "          [0.00017154],\n",
       "          [0.0001713 ],\n",
       "          [0.00017101]]])),\n",
       " ('631_camera_transform', array([[ 218.26530457,   -1.72021925,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('631_rgb', array([[[ 0, 28,  0],\n",
       "          [ 0, 22,  0],\n",
       "          [ 0, 22, 13],\n",
       "          ...,\n",
       "          [98, 66, 50],\n",
       "          [13, 22, 22],\n",
       "          [69, 42, 28]],\n",
       "  \n",
       "         [[ 0, 22,  0],\n",
       "          [ 0, 22,  0],\n",
       "          [ 0, 22, 13],\n",
       "          ...,\n",
       "          [95, 61, 42],\n",
       "          [13, 22, 22],\n",
       "          [75, 46, 28]],\n",
       "  \n",
       "         [[ 0, 28, 13],\n",
       "          [ 0, 22,  0],\n",
       "          [ 0, 22,  0],\n",
       "          ...,\n",
       "          [90, 61, 46],\n",
       "          [13, 22, 22],\n",
       "          [64, 34, 22]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[13,  0,  0],\n",
       "          [13,  0,  0],\n",
       "          [13, 13, 13],\n",
       "          ...,\n",
       "          [13, 13,  0],\n",
       "          [ 0,  0,  0],\n",
       "          [ 0,  0,  0]],\n",
       "  \n",
       "         [[13, 13, 13],\n",
       "          [13, 13, 13],\n",
       "          [13, 13, 13],\n",
       "          ...,\n",
       "          [ 0,  0,  0],\n",
       "          [13, 13, 13],\n",
       "          [13, 13,  0]],\n",
       "  \n",
       "         [[ 0,  0,  0],\n",
       "          [ 0,  0,  0],\n",
       "          [ 0,  0,  0],\n",
       "          ...,\n",
       "          [ 0,  0,  0],\n",
       "          [13, 13, 13],\n",
       "          [13, 13, 13]]], dtype=uint8)),\n",
       " ('632_camera_transform', array([[ 218.26530457,   -1.72021925,    2.87809992],\n",
       "         [   0.        , -179.14416504,    0.        ]])),\n",
       " ('632_ss', array([[[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[10],\n",
       "          [10],\n",
       "          [10],\n",
       "          ...,\n",
       "          [10],\n",
       "          [10],\n",
       "          [10]],\n",
       "  \n",
       "         [[10],\n",
       "          [10],\n",
       "          [10],\n",
       "          ...,\n",
       "          [10],\n",
       "          [10],\n",
       "          [10]],\n",
       "  \n",
       "         [[10],\n",
       "          [10],\n",
       "          [10],\n",
       "          ...,\n",
       "          [10],\n",
       "          [10],\n",
       "          [10]]], dtype=uint8)),\n",
       " ('633_vehicle_transform', array([[ 80.87400055, -11.5424118 ,   1.5286355 ],\n",
       "         [  2.34845805, -87.9758606 ,   0.        ]])),\n",
       " ('634_camera_transform', array([[ 80.94241333, -13.47805786,   3.10932922],\n",
       "         [  2.34845805, -87.9758606 ,   0.        ]])),\n",
       " ('634_depth', array([[[0.02222216],\n",
       "          [0.02225542],\n",
       "          [0.02228856],\n",
       "          ...,\n",
       "          [0.00819814],\n",
       "          [0.00818539],\n",
       "          [0.00817257]],\n",
       "  \n",
       "         [[0.02227789],\n",
       "          [0.02231228],\n",
       "          [0.02279955],\n",
       "          ...,\n",
       "          [0.00819814],\n",
       "          [0.00818539],\n",
       "          [0.00817257]],\n",
       "  \n",
       "         [[0.02236492],\n",
       "          [0.02246404],\n",
       "          [0.02243221],\n",
       "          ...,\n",
       "          [0.00819814],\n",
       "          [0.00818539],\n",
       "          [0.00817257]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00521708],\n",
       "          [0.00521731],\n",
       "          [0.00521749],\n",
       "          ...,\n",
       "          [0.00530887],\n",
       "          [0.00530887],\n",
       "          [0.00530887]],\n",
       "  \n",
       "         [[0.00520426],\n",
       "          [0.00520444],\n",
       "          [0.00521958],\n",
       "          ...,\n",
       "          [0.00529504],\n",
       "          [0.00529504],\n",
       "          [0.00529504]],\n",
       "  \n",
       "         [[0.00519145],\n",
       "          [0.00520659],\n",
       "          [0.0052067 ],\n",
       "          ...,\n",
       "          [0.00528133],\n",
       "          [0.00528133],\n",
       "          [0.00528133]]])),\n",
       " ('635_camera_transform', array([[ 80.94241333, -13.47805786,   3.10932922],\n",
       "         [  2.34845805, -87.9758606 ,   0.        ]])),\n",
       " ('635_rgb', array([[[ 13,  59,  28],\n",
       "          [ 13,  61,  38],\n",
       "          [ 22,  66,  46],\n",
       "          ...,\n",
       "          [104,  88,  79],\n",
       "          [104,  88,  79],\n",
       "          [102,  88,  79]],\n",
       "  \n",
       "         [[ 13,  59,  34],\n",
       "          [ 13,  59,  34],\n",
       "          [ 22,  64,  42],\n",
       "          ...,\n",
       "          [105,  88,  79],\n",
       "          [101,  86,  77],\n",
       "          [ 98,  85,  77]],\n",
       "  \n",
       "         [[ 22,  56,  34],\n",
       "          [ 22,  46,  28],\n",
       "          [ 13,  61,  34],\n",
       "          ...,\n",
       "          [ 99,  85,  77],\n",
       "          [104,  88,  79],\n",
       "          [104,  90,  81]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[124, 124, 121],\n",
       "          [121, 119, 118],\n",
       "          [124, 119, 119],\n",
       "          ...,\n",
       "          [148, 145, 143],\n",
       "          [135, 136, 137],\n",
       "          [136, 129, 128]],\n",
       "  \n",
       "         [[132, 130, 129],\n",
       "          [131, 124, 119],\n",
       "          [ 93,  95,  96],\n",
       "          ...,\n",
       "          [117, 119, 122],\n",
       "          [127, 122, 122],\n",
       "          [132, 129, 126]],\n",
       "  \n",
       "         [[131, 124, 120],\n",
       "          [ 86,  95,  96],\n",
       "          [ 95,  90,  86],\n",
       "          ...,\n",
       "          [113, 110, 112],\n",
       "          [119, 115, 115],\n",
       "          [124, 119, 119]]], dtype=uint8)),\n",
       " ('636_camera_transform', array([[ 80.94241333, -13.47805786,   3.10932922],\n",
       "         [  2.34845805, -87.9758606 ,   0.        ]])),\n",
       " ('636_ss', array([[[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 9],\n",
       "          [ 9],\n",
       "          [ 9],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 6],\n",
       "          [ 6],\n",
       "          [ 6],\n",
       "          ...,\n",
       "          [ 6],\n",
       "          [ 6],\n",
       "          [ 6]],\n",
       "  \n",
       "         [[ 6],\n",
       "          [ 6],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 6],\n",
       "          [ 6],\n",
       "          [ 6]],\n",
       "  \n",
       "         [[ 6],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 6],\n",
       "          [ 6],\n",
       "          [ 6]]], dtype=uint8)),\n",
       " ('637_vehicle_transform', array([[140.53977966,   8.87075996,   1.3780998 ],\n",
       "         [  0.        ,   0.85580403,   0.        ]])),\n",
       " ('638_camera_transform', array([[142.53955078,   8.9006319 ,   2.87809992],\n",
       "         [  0.        ,   0.85580403,   0.        ]])),\n",
       " ('638_depth', array([[[1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          ...,\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00]],\n",
       "  \n",
       "         [[1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          ...,\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00]],\n",
       "  \n",
       "         [[1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          ...,\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00],\n",
       "          [1.00000000e+00]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[1.77502643e-04],\n",
       "          [1.77800666e-04],\n",
       "          [1.78039085e-04],\n",
       "          ...,\n",
       "          [1.71542178e-04],\n",
       "          [1.71303759e-04],\n",
       "          [1.71005736e-04]],\n",
       "  \n",
       "         [[1.77502643e-04],\n",
       "          [1.77800666e-04],\n",
       "          [1.78039085e-04],\n",
       "          ...,\n",
       "          [1.71542178e-04],\n",
       "          [1.71303759e-04],\n",
       "          [1.71005736e-04]],\n",
       "  \n",
       "         [[1.77502643e-04],\n",
       "          [1.77800666e-04],\n",
       "          [1.78039085e-04],\n",
       "          ...,\n",
       "          [1.71542178e-04],\n",
       "          [1.71303759e-04],\n",
       "          [1.71005736e-04]]])),\n",
       " ('639_camera_transform', array([[142.53955078,   8.9006319 ,   2.87809992],\n",
       "         [  0.        ,   0.85580403,   0.        ]])),\n",
       " ('639_rgb', array([[[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [146, 126, 113],\n",
       "          [146, 126, 113],\n",
       "          [145, 125, 112]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [146, 126, 113],\n",
       "          [146, 126, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 13,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 13,   0,   0],\n",
       "          [  0,   0,   0]]], dtype=uint8)),\n",
       " ('640_camera_transform', array([[142.53955078,   8.9006319 ,   2.87809992],\n",
       "         [  0.        ,   0.85580403,   0.        ]])),\n",
       " ('640_ss', array([[[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          [ 0]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          [ 0]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          [ 0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[10],\n",
       "          [10],\n",
       "          [10],\n",
       "          ...,\n",
       "          [10],\n",
       "          [10],\n",
       "          [10]],\n",
       "  \n",
       "         [[10],\n",
       "          [10],\n",
       "          [10],\n",
       "          ...,\n",
       "          [10],\n",
       "          [10],\n",
       "          [10]],\n",
       "  \n",
       "         [[10],\n",
       "          [10],\n",
       "          [10],\n",
       "          ...,\n",
       "          [10],\n",
       "          [10],\n",
       "          [10]]], dtype=uint8)),\n",
       " ('641_vehicle_transform', array([[-9.4376936 , 65.25655365,  1.37809014],\n",
       "         [ 0.        , 89.63746643,  0.        ]])),\n",
       " ('642_camera_transform', array([[-9.42503929, 67.2565155 ,  2.87809014],\n",
       "         [ 0.        , 89.63746643,  0.        ]])),\n",
       " ('642_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01136828],\n",
       "          [0.01136828],\n",
       "          [0.01136828]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01140004],\n",
       "          [0.01140004],\n",
       "          [0.01140004]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01143193],\n",
       "          [0.01143193],\n",
       "          [0.01143193]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00531691],\n",
       "          [0.00531691],\n",
       "          [0.00531691],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00530213],\n",
       "          [0.00530213],\n",
       "          [0.00530309],\n",
       "          ...,\n",
       "          [0.00530213],\n",
       "          [0.00530213],\n",
       "          [0.00530219]]])),\n",
       " ('643_camera_transform', array([[-9.42503929, 67.2565155 ,  2.87809014],\n",
       "         [ 0.        , 89.63746643,  0.        ]])),\n",
       " ('643_rgb', array([[[146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [ 13,  13,  13],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[124, 120, 121],\n",
       "          [122, 120, 120],\n",
       "          [122, 120, 120],\n",
       "          ...,\n",
       "          [121, 120, 120],\n",
       "          [122, 120, 121],\n",
       "          [121, 121, 121]],\n",
       "  \n",
       "         [[119, 118, 120],\n",
       "          [122, 120, 121],\n",
       "          [122, 119, 119],\n",
       "          ...,\n",
       "          [121, 120, 121],\n",
       "          [121, 121, 121],\n",
       "          [121, 120, 121]],\n",
       "  \n",
       "         [[119, 119, 120],\n",
       "          [121, 117, 114],\n",
       "          [ 88,  90,  91],\n",
       "          ...,\n",
       "          [121, 120, 121],\n",
       "          [124, 121, 122],\n",
       "          [122, 121, 122]]], dtype=uint8)),\n",
       " ('644_camera_transform', array([[-9.42503929, 67.2565155 ,  2.87809014],\n",
       "         [ 0.        , 89.63746643,  0.        ]])),\n",
       " ('644_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[8],\n",
       "          [8],\n",
       "          [8],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('645_vehicle_transform',\n",
       "  array([[ -42.3509903 ,   -2.83511829,    1.3780998 ],\n",
       "         [   0.        , -179.7053833 ,    0.        ]])),\n",
       " ('646_camera_transform', array([[ -44.35095978,   -2.84540224,    2.87809992],\n",
       "         [   0.        , -179.7053833 ,    0.        ]])),\n",
       " ('646_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00536126],\n",
       "          [0.00536156],\n",
       "          [0.00536186]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00534576],\n",
       "          [0.00534606],\n",
       "          [0.00534636]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00533032],\n",
       "          [0.00533062],\n",
       "          [0.00533092]]])),\n",
       " ('647_camera_transform', array([[ -44.35095978,   -2.84540224,    2.87809992],\n",
       "         [   0.        , -179.7053833 ,    0.        ]])),\n",
       " ('647_rgb', array([[[148, 126, 113],\n",
       "          [148, 126, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 88,  91,  90],\n",
       "          [ 91,  90,  90],\n",
       "          [ 86,  88,  86],\n",
       "          ...,\n",
       "          [108, 117, 134],\n",
       "          [ 95, 108, 136],\n",
       "          [ 83,  95, 133]],\n",
       "  \n",
       "         [[ 86,  90,  88],\n",
       "          [ 86,  88,  88],\n",
       "          [ 83,  85,  85],\n",
       "          ...,\n",
       "          [113, 122, 141],\n",
       "          [102, 114, 141],\n",
       "          [ 86,  99, 138]],\n",
       "  \n",
       "         [[ 88,  90,  90],\n",
       "          [ 90,  90,  88],\n",
       "          [ 77,  85,  83],\n",
       "          ...,\n",
       "          [122, 131, 142],\n",
       "          [114, 126, 141],\n",
       "          [ 95, 108, 140]]], dtype=uint8)),\n",
       " ('648_camera_transform', array([[ -44.35095978,   -2.84540224,    2.87809992],\n",
       "         [   0.        , -179.7053833 ,    0.        ]])),\n",
       " ('648_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('649_vehicle_transform', array([[161.8999176 ,  58.91049576,   1.3780998 ],\n",
       "         [  0.        , 179.8525238 ,   0.        ]])),\n",
       " ('650_camera_transform', array([[159.89993286,  58.91564178,   2.87809992],\n",
       "         [  0.        , 179.8525238 ,   0.        ]])),\n",
       " ('650_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01451427],\n",
       "          [0.01294029],\n",
       "          [0.01291865]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01450157],\n",
       "          [0.01448244],\n",
       "          [0.01371127]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01388735],\n",
       "          [0.0138818 ],\n",
       "          [0.01371902]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00560463],\n",
       "          [0.00560463],\n",
       "          [0.00560463]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          ...,\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345]]])),\n",
       " ('651_camera_transform', array([[159.89993286,  58.91564178,   2.87809992],\n",
       "         [  0.        , 179.8525238 ,   0.        ]])),\n",
       " ('651_rgb', array([[[148, 126, 113],\n",
       "          [148, 126, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 13,   0,   0],\n",
       "          [ 13,  13,  13],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,   0],\n",
       "          [  0,   0,  13]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [  0,   0,  13],\n",
       "          [  0,   0,  13],\n",
       "          [  0,   0,   0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 88,  86,  83],\n",
       "          [ 83,  85,  83],\n",
       "          [ 85,  86,  85],\n",
       "          ...,\n",
       "          [122, 120, 121],\n",
       "          [122, 120, 121],\n",
       "          [122, 120, 121]],\n",
       "  \n",
       "         [[ 90,  85,  85],\n",
       "          [ 90,  85,  85],\n",
       "          [ 91,  88,  86],\n",
       "          ...,\n",
       "          [121, 120, 121],\n",
       "          [121, 120, 121],\n",
       "          [122, 120, 121]],\n",
       "  \n",
       "         [[ 90,  85,  85],\n",
       "          [ 86,  83,  85],\n",
       "          [ 86,  85,  85],\n",
       "          ...,\n",
       "          [121, 120, 120],\n",
       "          [124, 121, 121],\n",
       "          [124, 121, 122]]], dtype=uint8)),\n",
       " ('652_camera_transform', array([[159.89993286,  58.91564178,   2.87809992],\n",
       "         [  0.        , 179.8525238 ,   0.        ]])),\n",
       " ('652_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [9],\n",
       "          [9],\n",
       "          [9]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('653_vehicle_transform',\n",
       "  array([[-149.04792786,   76.14369965,    1.3780998 ],\n",
       "         [   0.        ,   90.02980804,    0.        ]])),\n",
       " ('654_camera_transform', array([[-149.04896545,   78.14369965,    2.87809992],\n",
       "         [   0.        ,   90.02980804,    0.        ]])),\n",
       " ('654_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345]]])),\n",
       " ('655_camera_transform', array([[-149.04896545,   78.14369965,    2.87809992],\n",
       "         [   0.        ,   90.02980804,    0.        ]])),\n",
       " ('655_rgb', array([[[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         [[146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 56,  28,  22],\n",
       "          [ 53,  28,  22],\n",
       "          [ 56,  34,  22],\n",
       "          ...,\n",
       "          [ 86,  85,  86],\n",
       "          [ 86,  86,  86],\n",
       "          [ 85,  85,  86]],\n",
       "  \n",
       "         [[ 50,  28,  22],\n",
       "          [ 50,  34,  22],\n",
       "          [ 53,  34,  22],\n",
       "          ...,\n",
       "          [ 90,  83,  83],\n",
       "          [ 86,  85,  86],\n",
       "          [ 86,  85,  86]],\n",
       "  \n",
       "         [[ 50,  28,  22],\n",
       "          [ 59,  28,  22],\n",
       "          [ 56,  28,  22],\n",
       "          ...,\n",
       "          [ 77,  77,  81],\n",
       "          [ 85,  81,  83],\n",
       "          [ 90,  85,  86]]], dtype=uint8)),\n",
       " ('656_camera_transform', array([[-149.04896545,   78.14369965,    2.87809992],\n",
       "         [   0.        ,   90.02980804,    0.        ]])),\n",
       " ('656_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('657_vehicle_transform', array([[245.8651123 ,  -9.9967041 ,   1.3780998 ],\n",
       "         [  0.        , -88.60674286,   0.        ]])),\n",
       " ('658_camera_transform', array([[245.91374207, -11.99611282,   2.87809992],\n",
       "         [  0.        , -88.60674286,   0.        ]])),\n",
       " ('658_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00649196],\n",
       "          [0.00648183],\n",
       "          [0.00647175]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00649196],\n",
       "          [0.00648183],\n",
       "          [0.00647175]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00649196],\n",
       "          [0.00648183],\n",
       "          [0.00647175]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('659_camera_transform', array([[245.91374207, -11.99611282,   2.87809992],\n",
       "         [  0.        , -88.60674286,   0.        ]])),\n",
       " ('659_rgb', array([[[148, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 83,  81,  77],\n",
       "          [ 99,  88,  81],\n",
       "          [ 99,  86,  81]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [ 99,  88,  81],\n",
       "          [102,  90,  83],\n",
       "          [ 98,  86,  81]],\n",
       "  \n",
       "         [[148, 126, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [102,  88,  81],\n",
       "          [104,  91,  83],\n",
       "          [102,  90,  83]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 86,  88,  86],\n",
       "          [ 98,  93,  90],\n",
       "          [105,  95,  93],\n",
       "          ...,\n",
       "          [122, 119, 120],\n",
       "          [121, 119, 120],\n",
       "          [121, 119, 119]],\n",
       "  \n",
       "         [[101,  93,  88],\n",
       "          [101,  91,  88],\n",
       "          [ 91,  86,  86],\n",
       "          ...,\n",
       "          [124, 120, 121],\n",
       "          [122, 119, 121],\n",
       "          [124, 120, 120]],\n",
       "  \n",
       "         [[ 86,  85,  83],\n",
       "          [ 88,  85,  83],\n",
       "          [ 85,  85,  83],\n",
       "          ...,\n",
       "          [122, 119, 120],\n",
       "          [124, 120, 121],\n",
       "          [122, 120, 120]]], dtype=uint8)),\n",
       " ('660_camera_transform', array([[245.91374207, -11.99611282,   2.87809992],\n",
       "         [  0.        , -88.60674286,   0.        ]])),\n",
       " ('660_ss', array([[[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 8],\n",
       "          [ 8],\n",
       "          [ 8]]], dtype=uint8)),\n",
       " ('661_vehicle_transform',\n",
       "  array([[-117.50151062,  136.11587524,    1.37828243],\n",
       "         [   0.        ,   -0.59799194,    0.        ]])),\n",
       " ('662_camera_transform', array([[-115.50161743,  136.09500122,    2.87828231],\n",
       "         [   0.        ,   -0.59799194,    0.        ]])),\n",
       " ('662_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560498],\n",
       "          [0.00560498],\n",
       "          [0.00560498],\n",
       "          ...,\n",
       "          [0.00560498],\n",
       "          [0.00560498],\n",
       "          [0.00560498]],\n",
       "  \n",
       "         [[0.00558937],\n",
       "          [0.00558937],\n",
       "          [0.00558931],\n",
       "          ...,\n",
       "          [0.00558937],\n",
       "          [0.00558937],\n",
       "          [0.00558937]],\n",
       "  \n",
       "         [[0.00557381],\n",
       "          [0.00557381],\n",
       "          [0.00557381],\n",
       "          ...,\n",
       "          [0.00557381],\n",
       "          [0.00557381],\n",
       "          [0.00557381]]])),\n",
       " ('663_camera_transform', array([[-115.50161743,  136.09500122,    2.87828231],\n",
       "         [   0.        ,   -0.59799194,    0.        ]])),\n",
       " ('663_rgb', array([[[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          [145, 125, 112]],\n",
       "  \n",
       "         [[146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [147, 126, 113],\n",
       "          ...,\n",
       "          [146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [146, 126, 113],\n",
       "          [147, 126, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 96,  93,  96],\n",
       "          [ 93,  93,  93],\n",
       "          [ 91,  91,  90],\n",
       "          ...,\n",
       "          [ 83,  86,  88],\n",
       "          [ 81,  85,  85],\n",
       "          [ 86,  86,  86]],\n",
       "  \n",
       "         [[ 98,  95,  93],\n",
       "          [ 95,  91,  91],\n",
       "          [ 91,  91,  91],\n",
       "          ...,\n",
       "          [ 90,  88,  90],\n",
       "          [ 85,  86,  88],\n",
       "          [ 91,  88,  88]],\n",
       "  \n",
       "         [[ 83,  85,  86],\n",
       "          [ 86,  86,  90],\n",
       "          [ 91,  91,  93],\n",
       "          ...,\n",
       "          [ 93,  85,  90],\n",
       "          [ 95,  88,  91],\n",
       "          [ 88,  86,  90]]], dtype=uint8)),\n",
       " ('664_camera_transform', array([[-115.50161743,  136.09500122,    2.87828231],\n",
       "         [   0.        ,   -0.59799194,    0.        ]])),\n",
       " ('664_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('665_vehicle_transform',\n",
       "  array([[ -85.21101379, -126.87477112,    1.33358455],\n",
       "         [  -0.47180212,   89.84374237,    0.        ]])),\n",
       " ('666_camera_transform', array([[ -85.20552826, -124.86249542,    2.81706476],\n",
       "         [  -0.47180212,   89.84374237,    0.        ]])),\n",
       " ('666_depth', array([[[0.03263152],\n",
       "          [0.03268236],\n",
       "          [0.03273338],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[0.03263152],\n",
       "          [0.03268236],\n",
       "          [0.03273338],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[0.03263152],\n",
       "          [0.03268236],\n",
       "          [0.03273338],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00565571],\n",
       "          [0.00565571],\n",
       "          [0.00565571],\n",
       "          ...,\n",
       "          [0.00565571],\n",
       "          [0.00565571],\n",
       "          [0.00565571]],\n",
       "  \n",
       "         [[0.00563979],\n",
       "          [0.00563979],\n",
       "          [0.00563979],\n",
       "          ...,\n",
       "          [0.00563979],\n",
       "          [0.00563979],\n",
       "          [0.00563979]],\n",
       "  \n",
       "         [[0.00562394],\n",
       "          [0.00562394],\n",
       "          [0.00562394],\n",
       "          ...,\n",
       "          [0.005624  ],\n",
       "          [0.005624  ],\n",
       "          [0.005624  ]]])),\n",
       " ('667_camera_transform', array([[ -85.20552826, -124.86249542,    2.81706476],\n",
       "         [  -0.47180212,   89.84374237,    0.        ]])),\n",
       " ('667_rgb', array([[[ 64,  64,  71],\n",
       "          [ 69,  69,  73],\n",
       "          [ 64,  64,  69],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [147, 126, 113]],\n",
       "  \n",
       "         [[ 66,  66,  71],\n",
       "          [ 71,  69,  73],\n",
       "          [ 69,  66,  71],\n",
       "          ...,\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114]],\n",
       "  \n",
       "         [[ 66,  64,  71],\n",
       "          [ 66,  66,  69],\n",
       "          [ 64,  61,  69],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 88,  85,  88],\n",
       "          [ 85,  83,  86],\n",
       "          [ 86,  83,  88],\n",
       "          ...,\n",
       "          [ 88,  90,  90],\n",
       "          [ 79,  85,  86],\n",
       "          [ 81,  83,  86]],\n",
       "  \n",
       "         [[ 83,  83,  85],\n",
       "          [ 79,  77,  85],\n",
       "          [ 81,  77,  85],\n",
       "          ...,\n",
       "          [ 93,  86,  85],\n",
       "          [ 86,  86,  86],\n",
       "          [ 79,  81,  85]],\n",
       "  \n",
       "         [[ 90,  81,  85],\n",
       "          [ 86,  79,  83],\n",
       "          [ 85,  79,  83],\n",
       "          ...,\n",
       "          [ 86,  85,  85],\n",
       "          [ 90,  86,  86],\n",
       "          [ 88,  86,  86]]], dtype=uint8)),\n",
       " ('668_camera_transform', array([[ -85.20552826, -124.86249542,    2.81706476],\n",
       "         [  -0.47180212,   89.84374237,    0.        ]])),\n",
       " ('668_ss', array([[[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[1],\n",
       "          [1],\n",
       "          [1],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('669_vehicle_transform', array([[-88.64411163, 144.55055237,   1.3780998 ],\n",
       "         [  0.        ,  89.78770447,   0.        ]])),\n",
       " ('670_camera_transform', array([[-88.63669586, 146.55053711,   2.87809992],\n",
       "         [  0.        ,  89.78770447,   0.        ]])),\n",
       " ('670_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01422381],\n",
       "          [0.01420146],\n",
       "          [0.0141803 ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.0142237 ],\n",
       "          [0.01420122],\n",
       "          [0.01417911]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.01422346],\n",
       "          [0.01420099],\n",
       "          [0.01417852]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('671_camera_transform', array([[-88.63669586, 146.55053711,   2.87809992],\n",
       "         [  0.        ,  89.78770447,   0.        ]])),\n",
       " ('671_rgb', array([[[146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [110,  75,  61],\n",
       "          [113,  77,  64],\n",
       "          [113,  77,  64]],\n",
       "  \n",
       "         [[145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 126, 113],\n",
       "          ...,\n",
       "          [113,  77,  61],\n",
       "          [114,  79,  64],\n",
       "          [114,  79,  64]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [115,  79,  66],\n",
       "          [115,  79,  66],\n",
       "          [114,  79,  64]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 85,  86,  86],\n",
       "          [ 83,  86,  86],\n",
       "          [ 81,  86,  86],\n",
       "          ...,\n",
       "          [121, 121, 121],\n",
       "          [122, 121, 121],\n",
       "          [121, 121, 121]],\n",
       "  \n",
       "         [[ 85,  86,  88],\n",
       "          [ 90,  91,  90],\n",
       "          [ 95,  93,  91],\n",
       "          ...,\n",
       "          [122, 120, 121],\n",
       "          [122, 121, 122],\n",
       "          [122, 121, 122]],\n",
       "  \n",
       "         [[ 90,  90,  90],\n",
       "          [ 88,  90,  90],\n",
       "          [ 93,  91,  88],\n",
       "          ...,\n",
       "          [121, 120, 121],\n",
       "          [121, 120, 121],\n",
       "          [122, 120, 121]]], dtype=uint8)),\n",
       " ('672_camera_transform', array([[-88.63669586, 146.55053711,   2.87809992],\n",
       "         [  0.        ,  89.78770447,   0.        ]])),\n",
       " ('672_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [1],\n",
       "          [1],\n",
       "          [1]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [8],\n",
       "          [8],\n",
       "          [8]]], dtype=uint8)),\n",
       " ('673_vehicle_transform',\n",
       "  array([[ 1.68769150e+01, -1.34409973e+02,  1.40572810e+00],\n",
       "         [ 1.21713960e+00,  1.22726500e+00,  3.33580563e-09]])),\n",
       " ('674_camera_transform',\n",
       "  array([[ 1.88441505e+01, -1.34367813e+02,  2.94787288e+00],\n",
       "         [ 1.21713960e+00,  1.22726500e+00,  3.33580563e-09]])),\n",
       " ('674_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00809717],\n",
       "          [0.00808454],\n",
       "          [0.0080719 ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00809711],\n",
       "          [0.00808454],\n",
       "          [0.0080719 ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [0.00809711],\n",
       "          [0.00808454],\n",
       "          [0.0080719 ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.0051896 ],\n",
       "          [0.00521737],\n",
       "          [0.00521737],\n",
       "          ...,\n",
       "          [0.00521737],\n",
       "          [0.00521737],\n",
       "          [0.00521737]],\n",
       "  \n",
       "         [[0.00520414],\n",
       "          [0.00520414],\n",
       "          [0.00520414],\n",
       "          ...,\n",
       "          [0.00520414],\n",
       "          [0.00520414],\n",
       "          [0.00520414]],\n",
       "  \n",
       "         [[0.00519103],\n",
       "          [0.00519103],\n",
       "          [0.00519103],\n",
       "          ...,\n",
       "          [0.00519103],\n",
       "          [0.00519103],\n",
       "          [0.00519103]]])),\n",
       " ('675_camera_transform',\n",
       "  array([[ 1.88441505e+01, -1.34367813e+02,  2.94787288e+00],\n",
       "         [ 1.21713960e+00,  1.22726500e+00,  3.33580563e-09]])),\n",
       " ('675_rgb', array([[[145, 124, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 88,  53,  38],\n",
       "          [ 88,  64,  50],\n",
       "          [ 96,  71,  56]],\n",
       "  \n",
       "         [[145, 124, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 69,  46,  34],\n",
       "          [ 83,  53,  38],\n",
       "          [ 88,  59,  42]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [ 66,  42,  34],\n",
       "          [ 77,  46,  34],\n",
       "          [ 95,  61,  42]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[120, 114, 111],\n",
       "          [ 89,  95,  96],\n",
       "          [ 83,  92,  95],\n",
       "          ...,\n",
       "          [ 79,  86,  86],\n",
       "          [ 79,  85,  85],\n",
       "          [ 86,  90,  88]],\n",
       "  \n",
       "         [[ 86,  90,  90],\n",
       "          [ 83,  83,  85],\n",
       "          [ 85,  85,  86],\n",
       "          ...,\n",
       "          [ 86,  86,  86],\n",
       "          [ 88,  86,  85],\n",
       "          [ 85,  86,  86]],\n",
       "  \n",
       "         [[ 88,  83,  85],\n",
       "          [ 86,  85,  88],\n",
       "          [ 91,  91,  93],\n",
       "          ...,\n",
       "          [ 88,  86,  86],\n",
       "          [ 88,  85,  86],\n",
       "          [ 88,  85,  85]]], dtype=uint8)),\n",
       " ('676_camera_transform',\n",
       "  array([[ 1.88441505e+01, -1.34367813e+02,  2.94787288e+00],\n",
       "         [ 1.21713960e+00,  1.22726500e+00,  3.33580563e-09]])),\n",
       " ('676_ss', array([[[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         [[ 0],\n",
       "          [ 0],\n",
       "          [ 0],\n",
       "          ...,\n",
       "          [11],\n",
       "          [11],\n",
       "          [11]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 6],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          [ 7]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          [ 7]],\n",
       "  \n",
       "         [[ 7],\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          ...,\n",
       "          [ 7],\n",
       "          [ 7],\n",
       "          [ 7]]], dtype=uint8)),\n",
       " ('677_vehicle_transform',\n",
       "  array([[-145.56019592,   99.70096588,    1.3780998 ],\n",
       "         [   0.        ,  -89.97014618,    0.        ]])),\n",
       " ('678_camera_transform', array([[-145.55914307,   97.70096588,    2.87809992],\n",
       "         [   0.        ,  -89.97014618,    0.        ]])),\n",
       " ('678_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          ...,\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351]]])),\n",
       " ('679_camera_transform', array([[-145.55914307,   97.70096588,    2.87809992],\n",
       "         [   0.        ,  -89.97014618,    0.        ]])),\n",
       " ('679_rgb', array([[[148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [147, 126, 113],\n",
       "          [146, 125, 112]],\n",
       "  \n",
       "         [[147, 126, 113],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[148, 127, 114],\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          ...,\n",
       "          [147, 126, 113],\n",
       "          [147, 126, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 46,  22,  22],\n",
       "          [ 46,  28,  22],\n",
       "          [ 53,  28,  22],\n",
       "          ...,\n",
       "          [ 53,  28,  22],\n",
       "          [ 42,  22,  13],\n",
       "          [ 50,  28,  13]],\n",
       "  \n",
       "         [[ 42,  28,  22],\n",
       "          [ 46,  28,  22],\n",
       "          [ 53,  28,  22],\n",
       "          ...,\n",
       "          [ 64,  28,  22],\n",
       "          [ 61,  28,  22],\n",
       "          [ 50,  28,  22]],\n",
       "  \n",
       "         [[ 42,  22,  13],\n",
       "          [ 50,  28,  13],\n",
       "          [ 50,  28,  13],\n",
       "          ...,\n",
       "          [ 61,  28,  22],\n",
       "          [ 69,  34,  28],\n",
       "          [ 59,  28,  22]]], dtype=uint8)),\n",
       " ('680_camera_transform', array([[-145.55914307,   97.70096588,    2.87809992],\n",
       "         [   0.        ,  -89.97014618,    0.        ]])),\n",
       " ('680_ss', array([[[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [0],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('681_vehicle_transform', array([[153.0300293 , -77.70115662,   9.37810326],\n",
       "         [  0.        , -89.00351715,   0.        ]])),\n",
       " ('682_camera_transform', array([[153.06480408, -79.70085144,  10.87810326],\n",
       "         [  0.        , -89.00351715,   0.        ]])),\n",
       " ('682_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [0.0204978 ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [0.02050656],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [0.02051556],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          ...,\n",
       "          [0.00560468],\n",
       "          [0.00560468],\n",
       "          [0.00560468]],\n",
       "  \n",
       "         [[0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          ...,\n",
       "          [0.00558901],\n",
       "          [0.00558901],\n",
       "          [0.00558901]],\n",
       "  \n",
       "         [[0.00557351],\n",
       "          [0.00557351],\n",
       "          [0.00557351],\n",
       "          ...,\n",
       "          [0.00557345],\n",
       "          [0.00557345],\n",
       "          [0.00557345]]])),\n",
       " ('683_camera_transform', array([[153.06480408, -79.70085144,  10.87810326],\n",
       "         [  0.        , -89.00351715,   0.        ]])),\n",
       " ('683_rgb', array([[[147, 126, 113],\n",
       "          [146, 117,  97],\n",
       "          [ 53,  52,  30],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [145, 124, 112]],\n",
       "  \n",
       "         [[147, 125, 113],\n",
       "          [146, 117,  96],\n",
       "          [ 72,  62,  50],\n",
       "          ...,\n",
       "          [145, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113]],\n",
       "  \n",
       "         [[128, 107,  91],\n",
       "          [118,  95,  73],\n",
       "          [ 11,  65,  56],\n",
       "          ...,\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [145, 125, 112]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[ 93,  90,  88],\n",
       "          [ 91,  88,  88],\n",
       "          [ 88,  85,  86],\n",
       "          ...,\n",
       "          [ 79,  85,  85],\n",
       "          [ 81,  83,  85],\n",
       "          [ 83,  83,  85]],\n",
       "  \n",
       "         [[ 90,  86,  88],\n",
       "          [ 83,  81,  83],\n",
       "          [ 81,  77,  79],\n",
       "          ...,\n",
       "          [ 86,  86,  85],\n",
       "          [ 91,  90,  88],\n",
       "          [ 99,  93,  91]],\n",
       "  \n",
       "         [[ 85,  81,  83],\n",
       "          [ 90,  83,  83],\n",
       "          [ 83,  79,  81],\n",
       "          ...,\n",
       "          [ 93,  90,  88],\n",
       "          [ 83,  85,  86],\n",
       "          [ 85,  85,  86]]], dtype=uint8)),\n",
       " ('684_camera_transform', array([[153.06480408, -79.70085144,  10.87810326],\n",
       "         [  0.        , -89.00351715,   0.        ]])),\n",
       " ('684_ss', array([[[0],\n",
       "          [0],\n",
       "          [9],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [9],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         [[0],\n",
       "          [0],\n",
       "          [9],\n",
       "          ...,\n",
       "          [0],\n",
       "          [0],\n",
       "          [0]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]],\n",
       "  \n",
       "         [[7],\n",
       "          [7],\n",
       "          [7],\n",
       "          ...,\n",
       "          [7],\n",
       "          [7],\n",
       "          [7]]], dtype=uint8)),\n",
       " ('685_vehicle_transform',\n",
       "  array([[  -2.7984426 , -189.81399536,    1.3780998 ],\n",
       "         [   0.        ,   91.41353607,    0.        ]])),\n",
       " ('686_camera_transform', array([[  -2.84777951, -187.81460571,    2.87809992],\n",
       "         [   0.        ,   91.41353607,    0.        ]])),\n",
       " ('686_depth', array([[[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         [[1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          ...,\n",
       "          [1.        ],\n",
       "          [1.        ],\n",
       "          [1.        ]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          ...,\n",
       "          [0.00533181],\n",
       "          [0.00533181],\n",
       "          [0.00533181]],\n",
       "  \n",
       "         [[0.00531691],\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          ...,\n",
       "          [0.00531697],\n",
       "          [0.00531697],\n",
       "          [0.00531697]],\n",
       "  \n",
       "         [[0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530213],\n",
       "          ...,\n",
       "          [0.00530219],\n",
       "          [0.00530219],\n",
       "          [0.00530219]]])),\n",
       " ('687_camera_transform', array([[  -2.84777951, -187.81460571,    2.87809992],\n",
       "         [   0.        ,   91.41353607,    0.        ]])),\n",
       " ('687_rgb', array([[[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         [[146, 125, 112],\n",
       "          [146, 125, 113],\n",
       "          [147, 126, 113],\n",
       "          ...,\n",
       "          [148, 126, 113],\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114]],\n",
       "  \n",
       "         [[146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          [146, 125, 113],\n",
       "          ...,\n",
       "          [148, 127, 114],\n",
       "          [148, 127, 114],\n",
       "          [148, 126, 113]],\n",
       "  \n",
       "         ...,\n",
       "  \n",
       "         [[122, 120, 120],\n",
       "          [122, 119, 120],\n",
       "          [121, 120, 120],\n",
       "          ...,\n",
       "          [122, 121, 122],\n",
       "          [122, 120, 122],\n",
       "          [124, 121, 122]],\n",
       "  \n",
       "         [[122, 120, 120],\n",
       "          [121, 119, 120],\n",
       "          [122, 120, 121],\n",
       "          ...,\n",
       "          [122, 121, 121],\n",
       "          [124, 121, 121],\n",
       "          [122, 121, 121]],\n",
       "  \n",
       "         [[120, 118, 119],\n",
       "          [121, 119, 120],\n",
       "          [122, 119, 120],\n",
       "          ...,\n",
       "          [121, 120, 120],\n",
       "          [124, 121, 121],\n",
       "          [124, 122, 121]]], dtype=uint8)),\n",
       " ('688_camera_transform', array([[  -2.84777951, -187.81460571,    2.87809992],\n",
       "         [   0.        ,   91.41353607,    0.        ]]))]"
      ]
     },
     "execution_count": 64,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "data_dict = sorted(data_dict.items())\n",
    "data_dict"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 65,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "485_vehicle_transform\n",
      "486_camera_transform\n",
      "486_depth\n",
      "487_camera_transform\n",
      "487_rgb\n",
      "488_camera_transform\n",
      "488_ss\n",
      "489_vehicle_transform\n",
      "490_camera_transform\n",
      "490_depth\n",
      "491_camera_transform\n",
      "491_rgb\n",
      "492_camera_transform\n",
      "492_ss\n",
      "493_vehicle_transform\n",
      "494_camera_transform\n",
      "494_depth\n",
      "495_camera_transform\n",
      "495_rgb\n",
      "496_camera_transform\n",
      "496_ss\n",
      "497_vehicle_transform\n",
      "498_camera_transform\n",
      "498_depth\n",
      "499_camera_transform\n",
      "499_rgb\n",
      "500_camera_transform\n",
      "500_ss\n",
      "501_vehicle_transform\n",
      "502_camera_transform\n",
      "502_depth\n",
      "503_camera_transform\n",
      "503_rgb\n",
      "504_camera_transform\n",
      "504_ss\n",
      "505_vehicle_transform\n",
      "506_camera_transform\n",
      "506_depth\n",
      "507_camera_transform\n",
      "507_rgb\n",
      "508_camera_transform\n",
      "508_ss\n",
      "509_vehicle_transform\n",
      "510_camera_transform\n",
      "510_depth\n",
      "511_camera_transform\n",
      "511_rgb\n",
      "512_camera_transform\n",
      "512_ss\n",
      "513_vehicle_transform\n",
      "514_camera_transform\n",
      "514_depth\n",
      "515_camera_transform\n",
      "515_rgb\n",
      "516_camera_transform\n",
      "516_ss\n",
      "517_vehicle_transform\n",
      "518_camera_transform\n",
      "518_depth\n",
      "519_camera_transform\n",
      "519_rgb\n",
      "520_camera_transform\n",
      "520_ss\n",
      "521_vehicle_transform\n",
      "522_camera_transform\n",
      "522_depth\n",
      "523_camera_transform\n",
      "523_rgb\n",
      "524_camera_transform\n",
      "524_ss\n",
      "525_vehicle_transform\n",
      "526_camera_transform\n",
      "526_depth\n",
      "527_camera_transform\n",
      "527_rgb\n",
      "528_camera_transform\n",
      "528_ss\n",
      "529_vehicle_transform\n",
      "530_camera_transform\n",
      "530_depth\n",
      "531_camera_transform\n",
      "531_rgb\n",
      "532_camera_transform\n",
      "532_ss\n",
      "533_vehicle_transform\n",
      "534_camera_transform\n",
      "534_depth\n",
      "535_camera_transform\n",
      "535_rgb\n",
      "536_camera_transform\n",
      "536_ss\n",
      "537_vehicle_transform\n",
      "538_camera_transform\n",
      "538_depth\n",
      "539_camera_transform\n",
      "539_rgb\n",
      "540_camera_transform\n",
      "540_ss\n",
      "541_vehicle_transform\n",
      "542_camera_transform\n",
      "542_depth\n",
      "543_camera_transform\n",
      "543_rgb\n",
      "544_camera_transform\n",
      "544_ss\n",
      "545_vehicle_transform\n",
      "546_camera_transform\n",
      "546_depth\n",
      "547_camera_transform\n",
      "547_rgb\n",
      "548_camera_transform\n",
      "548_ss\n",
      "549_vehicle_transform\n",
      "550_camera_transform\n",
      "550_depth\n",
      "551_camera_transform\n",
      "551_rgb\n",
      "552_camera_transform\n",
      "552_ss\n",
      "553_vehicle_transform\n",
      "554_camera_transform\n",
      "554_depth\n",
      "555_camera_transform\n",
      "555_rgb\n",
      "556_camera_transform\n",
      "556_ss\n",
      "557_vehicle_transform\n",
      "558_camera_transform\n",
      "558_depth\n",
      "559_camera_transform\n",
      "559_rgb\n",
      "560_camera_transform\n",
      "560_ss\n",
      "561_vehicle_transform\n",
      "562_camera_transform\n",
      "562_depth\n",
      "563_camera_transform\n",
      "563_rgb\n",
      "564_camera_transform\n",
      "564_ss\n",
      "565_vehicle_transform\n",
      "566_camera_transform\n",
      "566_depth\n",
      "567_camera_transform\n",
      "567_rgb\n",
      "568_camera_transform\n",
      "568_ss\n",
      "569_vehicle_transform\n",
      "570_camera_transform\n",
      "570_depth\n",
      "571_camera_transform\n",
      "571_rgb\n",
      "572_camera_transform\n",
      "572_ss\n",
      "573_vehicle_transform\n",
      "574_camera_transform\n",
      "574_depth\n",
      "575_camera_transform\n",
      "575_rgb\n",
      "576_camera_transform\n",
      "576_ss\n",
      "577_vehicle_transform\n",
      "578_camera_transform\n",
      "578_depth\n",
      "579_camera_transform\n",
      "579_rgb\n",
      "580_camera_transform\n",
      "580_ss\n",
      "581_vehicle_transform\n",
      "582_camera_transform\n",
      "582_depth\n",
      "583_camera_transform\n",
      "583_rgb\n",
      "584_camera_transform\n",
      "584_ss\n",
      "585_vehicle_transform\n",
      "586_camera_transform\n",
      "586_depth\n",
      "587_camera_transform\n",
      "587_rgb\n",
      "588_camera_transform\n",
      "588_ss\n",
      "589_vehicle_transform\n",
      "590_camera_transform\n",
      "590_depth\n",
      "591_camera_transform\n",
      "591_rgb\n",
      "592_camera_transform\n",
      "592_ss\n",
      "593_vehicle_transform\n",
      "594_camera_transform\n",
      "594_depth\n",
      "595_camera_transform\n",
      "595_rgb\n",
      "596_camera_transform\n",
      "596_ss\n",
      "597_vehicle_transform\n",
      "598_camera_transform\n",
      "598_depth\n",
      "599_camera_transform\n",
      "599_rgb\n",
      "600_camera_transform\n",
      "600_ss\n",
      "601_vehicle_transform\n",
      "602_camera_transform\n",
      "602_depth\n",
      "603_camera_transform\n",
      "603_rgb\n",
      "604_camera_transform\n",
      "604_ss\n",
      "605_vehicle_transform\n",
      "606_camera_transform\n",
      "606_depth\n",
      "607_camera_transform\n",
      "607_rgb\n",
      "608_camera_transform\n",
      "608_ss\n",
      "609_vehicle_transform\n",
      "610_camera_transform\n",
      "610_depth\n",
      "611_camera_transform\n",
      "611_rgb\n",
      "612_camera_transform\n",
      "612_ss\n",
      "613_vehicle_transform\n",
      "614_camera_transform\n",
      "614_depth\n",
      "615_camera_transform\n",
      "615_rgb\n",
      "616_camera_transform\n",
      "616_ss\n",
      "617_vehicle_transform\n",
      "618_camera_transform\n",
      "618_depth\n",
      "619_camera_transform\n",
      "619_rgb\n",
      "620_camera_transform\n",
      "620_ss\n",
      "621_vehicle_transform\n",
      "622_camera_transform\n",
      "622_depth\n",
      "623_camera_transform\n",
      "623_rgb\n",
      "624_camera_transform\n",
      "624_ss\n",
      "625_vehicle_transform\n",
      "626_camera_transform\n",
      "626_depth\n",
      "627_camera_transform\n",
      "627_rgb\n",
      "628_camera_transform\n",
      "628_ss\n",
      "629_vehicle_transform\n",
      "630_camera_transform\n",
      "630_depth\n",
      "631_camera_transform\n",
      "631_rgb\n",
      "632_camera_transform\n",
      "632_ss\n",
      "633_vehicle_transform\n",
      "634_camera_transform\n",
      "634_depth\n",
      "635_camera_transform\n",
      "635_rgb\n",
      "636_camera_transform\n",
      "636_ss\n",
      "637_vehicle_transform\n",
      "638_camera_transform\n",
      "638_depth\n",
      "639_camera_transform\n",
      "639_rgb\n",
      "640_camera_transform\n",
      "640_ss\n",
      "641_vehicle_transform\n",
      "642_camera_transform\n",
      "642_depth\n",
      "643_camera_transform\n",
      "643_rgb\n",
      "644_camera_transform\n",
      "644_ss\n",
      "645_vehicle_transform\n",
      "646_camera_transform\n",
      "646_depth\n",
      "647_camera_transform\n",
      "647_rgb\n",
      "648_camera_transform\n",
      "648_ss\n",
      "649_vehicle_transform\n",
      "650_camera_transform\n",
      "650_depth\n",
      "651_camera_transform\n",
      "651_rgb\n",
      "652_camera_transform\n",
      "652_ss\n",
      "653_vehicle_transform\n",
      "654_camera_transform\n",
      "654_depth\n",
      "655_camera_transform\n",
      "655_rgb\n",
      "656_camera_transform\n",
      "656_ss\n",
      "657_vehicle_transform\n",
      "658_camera_transform\n",
      "658_depth\n",
      "659_camera_transform\n",
      "659_rgb\n",
      "660_camera_transform\n",
      "660_ss\n",
      "661_vehicle_transform\n",
      "662_camera_transform\n",
      "662_depth\n",
      "663_camera_transform\n",
      "663_rgb\n",
      "664_camera_transform\n",
      "664_ss\n",
      "665_vehicle_transform\n",
      "666_camera_transform\n",
      "666_depth\n",
      "667_camera_transform\n",
      "667_rgb\n",
      "668_camera_transform\n",
      "668_ss\n",
      "669_vehicle_transform\n",
      "670_camera_transform\n",
      "670_depth\n",
      "671_camera_transform\n",
      "671_rgb\n",
      "672_camera_transform\n",
      "672_ss\n",
      "673_vehicle_transform\n",
      "674_camera_transform\n",
      "674_depth\n",
      "675_camera_transform\n",
      "675_rgb\n",
      "676_camera_transform\n",
      "676_ss\n",
      "677_vehicle_transform\n",
      "678_camera_transform\n",
      "678_depth\n",
      "679_camera_transform\n",
      "679_rgb\n",
      "680_camera_transform\n",
      "680_ss\n",
      "681_vehicle_transform\n",
      "682_camera_transform\n",
      "682_depth\n",
      "683_camera_transform\n",
      "683_rgb\n",
      "684_camera_transform\n",
      "684_ss\n",
      "685_vehicle_transform\n",
      "686_camera_transform\n",
      "686_depth\n",
      "687_camera_transform\n",
      "687_rgb\n",
      "688_camera_transform\n"
     ]
    }
   ],
   "source": [
    "for key, _ in data_dict:\n",
    "    print(key)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 73,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(720, 1280, 1)"
      ]
     },
     "execution_count": 73,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "dict(data_dict)['486_depth'].shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 77,
   "metadata": {},
   "outputs": [],
   "source": [
    "ss = np.load(\"/mnt/carla_data/test_files/frame_460/952_ss.npy\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 78,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[0, 0, 0, ..., 0, 0, 0],\n",
       "       [0, 0, 0, ..., 0, 0, 0],\n",
       "       [0, 0, 0, ..., 0, 0, 0],\n",
       "       ...,\n",
       "       [7, 7, 7, ..., 3, 3, 3],\n",
       "       [7, 7, 7, ..., 3, 3, 3],\n",
       "       [7, 7, 7, ..., 3, 3, 3]], dtype=uint8)"
      ]
     },
     "execution_count": 78,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "ss[:,:,0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 122,
   "metadata": {},
   "outputs": [],
   "source": [
    "ss[:,:,0].tofile('abcd.raw')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 79,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f6ef2d621d0>"
      ]
     },
     "execution_count": 79,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.imshow(ss[:,:,0])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 89,
   "metadata": {},
   "outputs": [],
   "source": [
    "with open('/mnt/carla_data/test_files/test_files_eigen.txt') as f:\n",
    "    test_files = f.readlines()\n",
    "    test_files = ['/mnt/carla_data/test_files/' + t[:-1] for t in test_files]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 90,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "['/mnt/carla_data/test_files/frame_476/968_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/963_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/977_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/981_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/961_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/974_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/953_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/970_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/957_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/954_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/980_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/978_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/962_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/959_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/971_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/975_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/969_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/973_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/958_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/967_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/960_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/979_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/955_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/956_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/972_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/964_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/952_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/976_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/965_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_476/966_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/968_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/963_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/977_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/981_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/961_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/974_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/953_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/970_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/957_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/954_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/980_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/978_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/962_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/959_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/971_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/975_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/969_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/973_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/958_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/967_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/960_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/979_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/955_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/956_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/972_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/964_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/952_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/976_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/965_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_492/966_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/968_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/963_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/977_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/981_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/961_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/974_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/953_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/970_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/957_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/954_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/980_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/978_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/962_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/959_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/971_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/975_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/969_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/973_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/958_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/967_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/960_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/979_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/955_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/956_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/972_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/964_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/952_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/976_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/965_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_480/966_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/968_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/963_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/977_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/981_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/961_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/974_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/953_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/970_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/957_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/954_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/980_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/978_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/962_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/959_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/971_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/975_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/969_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/973_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/958_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/967_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/960_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/979_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/955_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/956_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/972_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/964_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/952_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/976_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/965_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_488/966_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/968_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/963_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/977_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/981_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/961_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/974_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/953_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/970_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/957_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/954_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/980_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/978_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/962_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/959_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/971_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/975_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/969_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/973_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/958_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/967_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/960_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/979_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/955_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/956_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/972_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/964_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/952_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/976_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/965_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_484/966_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/968_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/963_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/977_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/981_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/961_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/974_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/953_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/970_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/957_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/954_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/980_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/978_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/962_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/959_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/971_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/975_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/969_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/973_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/958_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/967_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/960_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/979_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/955_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/956_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/972_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/964_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/952_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/976_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/965_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_468/966_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/968_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/963_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/977_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/981_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/961_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/974_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/953_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/970_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/957_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/954_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/980_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/978_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/962_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/959_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/971_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/975_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/969_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/973_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/958_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/967_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/960_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/979_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/955_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/956_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/972_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/964_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/952_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/976_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/965_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_464/966_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/968_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/963_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/977_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/981_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/961_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/974_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/953_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/970_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/957_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/954_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/980_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/978_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/962_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/959_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/971_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/975_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/969_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/973_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/958_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/967_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/960_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/979_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/955_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/956_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/972_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/964_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/952_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/976_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/965_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_460/966_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/968_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/963_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/977_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/981_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/961_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/974_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/953_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/970_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/957_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/954_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/980_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/978_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/962_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/959_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/971_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/975_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/969_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/973_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/958_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/967_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/960_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/979_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/955_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/956_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/972_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/964_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/952_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/976_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/965_rgb.png',\n",
       " '/mnt/carla_data/test_files/frame_472/966_rgb.png']"
      ]
     },
     "execution_count": 90,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "test_files"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 112,
   "metadata": {},
   "outputs": [],
   "source": [
    "for fil in test_files:\n",
    "    im_tgt = plt.imread(fil)\n",
    "    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 116,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([[0.        , 0.05098039, 0.05098039, ..., 0.43137255, 0.43137255,\n",
       "        0.43137255],\n",
       "       [0.05098039, 0.        , 0.05098039, ..., 0.4392157 , 0.43137255,\n",
       "        0.43137255],\n",
       "       [0.05098039, 0.        , 0.05098039, ..., 0.43137255, 0.43137255,\n",
       "        0.4392157 ],\n",
       "       ...,\n",
       "       [0.42352942, 0.41568628, 0.4117647 , ..., 0.2784314 , 0.2784314 ,\n",
       "        0.2784314 ],\n",
       "       [0.41568628, 0.41568628, 0.41568628, ..., 0.2784314 , 0.2784314 ,\n",
       "        0.2784314 ],\n",
       "       [0.4117647 , 0.42352942, 0.42352942, ..., 0.2784314 , 0.2784314 ,\n",
       "        0.2784314 ]], dtype=float32)"
      ]
     },
     "execution_count": 116,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "im_tgt[:,:,2]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 96,
   "metadata": {},
   "outputs": [],
   "source": [
    "scaled_im = raw_im.resize((416, 128), pil.ANTIALIAS)"
   ]
  },
  {
   "cell_type": "raw",
   "metadata": {},
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 100,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(720, 1280, 4)"
      ]
     },
     "execution_count": 100,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "np.array(raw_im).shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 117,
   "metadata": {},
   "outputs": [],
   "source": [
    "img = plt.imread(\"/mnt/carla_data/test_files/frame_476/968_rgb.png\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 118,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(720, 1280, 3)"
      ]
     },
     "execution_count": 118,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "img.shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 119,
   "metadata": {},
   "outputs": [],
   "source": [
    "img = plt.imread(\"/mnt/carla_data/data/frame_456/968_rgb.png\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 120,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(720, 1280, 4)"
      ]
     },
     "execution_count": 120,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "img.shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "def read_npy_file(item):\n",
    "    data = np.load(item.decode())\n",
    "    return data.astype(np.uint8)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "['/mnt/carla_data/carla_train_full/frame_444/968_rgb_instance_new.npy']"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "with open(\"/mnt/carla_data/carla_train_full/train.txt\", 'r') as f:\n",
    "    frames = f.readlines()\n",
    "    subfolders = [x.split(' ')[0] for x in frames]\n",
    "    frame_ids = [x.split(' ')[1][:-1] for x in frames]\n",
    "\n",
    "    ins_file_list = [os.path.join(\"/mnt/carla_data/carla_train_full\", subfolders[i], \n",
    "                    frame_ids[i] + '_rgb_instance_new.npy') for i in range(len(frames))][:1]\n",
    "ins_file_list"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "1\n"
     ]
    }
   ],
   "source": [
    "import tensorflow as tf\n",
    "print(len(ins_file_list))\n",
    "ins_paths_queue = tf.train.string_input_producer(\n",
    "                ins_file_list, shuffle=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "ins_reader = tf.WholeFileReader()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "ins_keys, ins_contents = ins_reader.read(ins_paths_queue)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [],
   "source": [
    "# ins_seq = tf.reshape(tf.decode_raw(ins_contents, tf.uint8), [1, opt.img_height, (opt.num_source+1) * opt.img_width, 2])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [],
   "source": [
    "# ins_seq = tf.reshape(tf.decode_raw(ins_contents, tf.uint8), [1, 128, 1248, 2])\n",
    "ins_seq = tf.py_func(read_npy_file, [ins_keys], [tf.uint8,])\n",
    "ins_seq[0].set_shape((128, 1248))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "with tf.Session() as sess:\n",
    "    print(ins_seq[0].get_shape())\n",
    "    print(sess.run(ins_seq[0]))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "file_list = tf.train.string_input_producer(['/mnt/carla_data/carla_train_full/frame_444/968_rgb_instance_new.raw'])\n",
    "decoded = tf.decode_raw(tf.WholeFileReader().read(file_list), tf.uint8)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "with tf.Session() as sess:\n",
    "    print(sess.run(decoded))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.7"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}