File size: 4,303 Bytes
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"spatial code schema": {
"objects": {
"<object class>": [
{
"3D oriented bounding box": {
"3D oriented bounding box center coordinates": {
"components": [
"x",
"y",
"height above floor"
],
"unit": "meters",
"description": "center of the 3D oriented bounding box in the shared room coordinate system"
},
"3D oriented bounding box dimensions": {
"components": [
"dimension 1",
"dimension 2",
"dimension 3"
],
"unit": "meters",
"description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
},
"3D oriented bounding box orientation unit vectors": {
"components": [
[
"x",
"y",
"height"
],
[
"x",
"y",
"height"
],
[
"x",
"y",
"height"
]
],
"unit": null,
"description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
}
},
"first visible time": {
"unit": "seconds",
"description": "earliest time at which this object instance is visibly observed"
}
}
]
},
"room": {
"floor boundary polygons": [
{
"outer boundary coordinates": {
"components": [
[
"x",
"y"
],
[
"x",
"y"
]
],
"unit": "meters",
"description": "ordered vertices enclosing one floor region"
},
"interior hole boundary coordinates": {
"components": [
[
[
"x",
"y"
],
[
"x",
"y"
]
]
],
"unit": "meters",
"description": "ordered boundaries enclosing regions excluded from the floor area"
}
}
]
}
},
"objects": {
"bed": [
{
"3D oriented bounding box": {
"3D oriented bounding box center coordinates": [
-3.37,
1.85,
0.33
],
"3D oriented bounding box dimensions": [
2.11,
1.74,
0.66
],
"3D oriented bounding box orientation unit vectors": [
[
1.0,
0.06,
0.0
],
[
-0.06,
1.0,
0.0
],
[
0.0,
0.0,
1.0
]
]
},
"first visible time": null
}
],
"table": [
{
"3D oriented bounding box": {
"3D oriented bounding box center coordinates": [
-1.83,
3.97,
0.38
],
"3D oriented bounding box dimensions": [
0.49,
1.45,
0.76
],
"3D oriented bounding box orientation unit vectors": [
[
0.0,
-1.0,
0.0
],
[
1.0,
0.0,
0.0
],
[
0.0,
0.0,
1.0
]
]
},
"first visible time": null
}
],
"toilet": [
{
"3D oriented bounding box": {
"3D oriented bounding box center coordinates": [
0.54,
4.14,
0.42
],
"3D oriented bounding box dimensions": [
0.59,
0.47,
0.82
],
"3D oriented bounding box orientation unit vectors": [
[
-1.0,
0.07,
0.0
],
[
-0.07,
-1.0,
0.0
],
[
0.0,
0.0,
1.0
]
]
},
"first visible time": null
}
],
"tv": [
{
"3D oriented bounding box": {
"3D oriented bounding box center coordinates": [
-0.08,
1.54,
1.67
],
"3D oriented bounding box dimensions": [
0.06,
0.58,
0.36
],
"3D oriented bounding box orientation unit vectors": [
[
-1.0,
-0.07,
0.0
],
[
0.07,
-1.0,
0.0
],
[
0.0,
0.0,
1.0
]
]
},
"first visible time": null
}
]
},
"room": {
"floor boundary polygons": [
{
"outer boundary coordinates": [
[
-4.48,
-0.73
],
[
0.07,
-0.73
],
[
0.07,
3.82
],
[
-4.48,
3.82
]
],
"interior hole boundary coordinates": []
}
]
}
} |