| { |
| "camera_data": { |
| "location_worldframe": [ |
| 6762.6142578125, |
| 398.40521240234377, |
| -5184.236328125 |
| ], |
| "quaternion_xyzw_worldframe": [ |
| 0.027407554909586908, |
| -0.36899012327194216, |
| 0.010886430740356446, |
| 0.9289653301239014 |
| ] |
| }, |
| "objects": [ |
| { |
| "bounding_valid": true, |
| "front_cam_valid": true, |
| "class": "Jiangwei_T053_FFG", |
| "visibility": 0.26817262172698977, |
| "location": [ |
| 959.7638549804688, |
| 215.4830322265625, |
| 3094.322021484375 |
| ], |
| "quaternion_xyzw": [ |
| 0.14609430730342866, |
| 0.670207679271698, |
| 0.7109572887420654, |
| -0.15497688949108125 |
| ], |
| "pose_transform_permuted": [ |
| [ -0.9092772, 0.416191, 2.235174E-07, 0 ], |
| [ -0.02453685, -0.05360762, 0.9982606, 0 ], |
| [ 0.415467, 0.9076956, 0.05895623, 0 ], |
| [ 959.7639, 215.483, 3094.322, 1 ] |
| ], |
| "cuboid_centroid": [ |
| 959.7638549804688, |
| 215.4830322265625, |
| 3094.322021484375 |
| ], |
| "projected_cuboid_centroid": [ |
| 2071.26513671875, |
| 269.065185546875 |
| ], |
| "bounding_box": { |
| "top_left": [ |
| -245.21588134765626, |
| 12.5751953125 |
| ], |
| "bottom_right": [ |
| 1544.6759033203125, |
| 296.1400146484375 |
| ] |
| }, |
| "cuboid": [ |
| [ 1544.676, 196.1422, 79.71928 ], |
| [ 1453.661, 197.3181, 84.88953 ], |
| [ -198.1816, 296.14, -19.07546 ], |
| [ -145.1896, 278.9333, -24.24572 ], |
| [ 1539.267, 261.6683, 80.46371 ], |
| [ 1449.37, 258.8779, 85.63396 ], |
| [ -245.2159, 12.5752, -18.33103 ], |
| [ -180.1978, 57.20752, -23.50129 ] |
| ], |
| "projected_cuboid": [ |
| [ 1544.676, 196.1422 ], |
| [ 1453.661, 197.3181 ], |
| [ -198.1816, 296.14 ], |
| [ -145.1896, 278.9333 ], |
| [ 1539.267, 261.6683 ], |
| [ 1449.37, 258.8779 ], |
| [ -245.2159, 12.5752 ], |
| [ -180.1978, 57.20752 ] |
| ] |
| } |
| ] |
| } |
