| { |
| "camera_data": { |
| "location_worldframe": [ |
| 3581.27978515625, |
| 985.4324340820313, |
| 11939.5263671875 |
| ], |
| "quaternion_xyzw_worldframe": [ |
| -0.002105755265802145, |
| 0.9977888464927673, |
| -0.03914942219853401, |
| -0.05366871878504753 |
| ] |
| }, |
| "objects": [ |
| { |
| "bounding_valid": true, |
| "front_cam_valid": true, |
| "class": "Jiangwei_T053_FFG", |
| "visibility": 0.6774040460586548, |
| "location": [ |
| -932.2499389648438, |
| 322.1541442871094, |
| 8447.4208984375 |
| ], |
| "quaternion_xyzw": [ |
| 0.6628899574279785, |
| 0.1462906450033188, |
| 0.15823917090892793, |
| -0.7170329093933106 |
| ], |
| "pose_transform_permuted": [ |
| [ 0.9071188, 0.4208746, -8.940697E-08, 0 ], |
| [ -0.0329762, 0.07107456, 0.9969257, 0 ], |
| [ 0.4195807, -0.90433, 0.07835193, 0 ], |
| [ -932.2499, 322.1541, 8447.421, 1 ] |
| ], |
| "cuboid_centroid": [ |
| -932.2499389648438, |
| 322.1541442871094, |
| 8447.4208984375 |
| ], |
| "projected_cuboid_centroid": [ |
| 564.6088256835938, |
| 255.971435546875 |
| ], |
| "bounding_box": { |
| "top_left": [ |
| 91.07843017578125, |
| 213.876953125 |
| ], |
| "bottom_right": [ |
| 665.2137451171875, |
| 408.793212890625 |
| ] |
| }, |
| "cuboid": [ |
| [ 91.07843, 237.9078, 29.64458 ], |
| [ 355.7815, 233.3285, 34.86603 ], |
| [ 663.1072, 213.877, 138.4456 ], |
| [ 616.2513, 214.1337, 133.2241 ], |
| [ 119.1411, 408.7932, 30.63393 ], |
| [ 372.4536, 379.4551, 35.85538 ], |
| [ 665.2137, 251.5912, 139.4349 ], |
| [ 618.7853, 253.3131, 134.2134 ] |
| ], |
| "projected_cuboid": [ |
| [ 91.07843, 237.9078 ], |
| [ 355.7815, 233.3285 ], |
| [ 663.1072, 213.877 ], |
| [ 616.2513, 214.1337 ], |
| [ 119.1411, 408.7932 ], |
| [ 372.4536, 379.4551 ], |
| [ 665.2137, 251.5912 ], |
| [ 618.7853, 253.3131 ] |
| ] |
| } |
| ] |
| } |