pose of the camera in a9_dataset_r02_s03

[SainingZhang]

Thank you for your datasets. However, when I computed the in the hd_map_origincoordinate system poses of s110_camera_basler_south1_8mm through 1651673050_054497235_s110_lidar_ouster_north.json and 1651673050_054807703_s110_lidar_ouster_south.json, I found that the poses are different.
[[ 4.90623610e-01 -1.68560707e-01 8.54912950e-01 -4.53750554e+02]
[-1.38350441e-01 -9.83734189e-01 -1.14562215e-01 -1.85638109e+02]
[ 8.60318102e-01 -6.20709972e-02 -5.05963819e-01 1.15514708e+01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]

[[ 5.70086197e-01 9.38136512e-02 8.16210901e-01 -4.36787862e+02]
[-2.04820924e-01 -9.45862613e-01 2.51774582e-01 -1.71304401e+02]
[ 7.95643993e-01 -3.10710635e-01 -5.20007637e-01 1.28895482e+01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]

I wonder how you compute the world poses?