code: # ==============================================================================
  # MIT License
  #
  # Copyright 2020 Institute for Automotive Engineering of RWTH Aachen University.
  #
  # Permission is hereby granted, free of charge, to any person obtaining a copy
  # of this software and associated documentation files (the "Software"), to deal
  # in the Software without restriction, including without limitation the rights
  # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  # copies of the Software, and to permit persons to whom the Software is
  # furnished to do so, subject to the following conditions:
  #
  # The above copyright notice and this permission notice shall be included in all
  # copies or substantial portions of the Software.
  #
  # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  # SOFTWARE.
  # ==============================================================================
  
  import numpy as np
  
  # for dataset 2_F
  H = [
    np.array([[0.03506686613905922, 27.971438297785962, -0.17694724954191404], [0.3821882391578238, 9.481642330993019e-17, 5.46222110929461], [25.000001047737943, 6.202207287472715e-15, 27.000001047737943]]) # front
  ]
  
apis: numpy.array