| { |
| "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": { |
| "door": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 1.01, |
| 3.7, |
| 1.04 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.87, |
| 2.0, |
| 0.06 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.99, |
| 0.15, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.15, |
| -0.99, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 7.0 |
| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 7.98, |
| 4.54, |
| 1.02 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.78, |
| 2.0, |
| 0.11 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.24, |
| 0.97, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.97, |
| 0.24, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 7.0 |
| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 9.83, |
| 5.9, |
| 1.0 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.7, |
| 1.97, |
| 0.02 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.21, |
| -0.98, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| -0.98, |
| -0.21, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 7.0 |
| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 0.16, |
| 4.36, |
| 1.03 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 1.06, |
| 2.06, |
| 0.1 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.2, |
| -0.98, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| -0.98, |
| -0.2, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 7.0 |
| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 6.96, |
| 4.95, |
| 1.06 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 1.13, |
| 2.11, |
| 0.21 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.98, |
| 0.19, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.19, |
| -0.98, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 7.0 |
| } |
| ], |
| "tv": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 12.76, |
| 2.76, |
| 1.73 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 1.08, |
| 0.11, |
| 0.62 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.72, |
| -0.69, |
| -0.05 |
| ], |
| [ |
| -0.68, |
| 0.72, |
| -0.17 |
| ], |
| [ |
| 0.15, |
| -0.09, |
| -0.98 |
| ] |
| ] |
| }, |
| "first visible time": 11.0 |
| } |
| ], |
| "chair": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 12.06, |
| 3.84, |
| 0.76 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.61, |
| 0.73, |
| 0.25 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 1.0, |
| 0.01, |
| 0.06 |
| ], |
| [ |
| -0.05, |
| -0.22, |
| 0.97 |
| ], |
| [ |
| 0.03, |
| -0.98, |
| -0.22 |
| ] |
| ] |
| }, |
| "first visible time": 15.0 |
| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 11.51, |
| 3.65, |
| 0.5 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.51, |
| 0.98, |
| 0.46 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.28, |
| 0.96, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.96, |
| 0.28, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 15.0 |
| } |
| ], |
| "bed": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 10.08, |
| 3.82, |
| 0.52 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 2.23, |
| 1.04, |
| 1.0 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.98, |
| -0.2, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| -0.2, |
| 0.98, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 9.0 |
| } |
| ], |
| "telephone": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 3.12, |
| 4.32, |
| 1.4 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.08, |
| 0.28, |
| 0.05 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.97, |
| 0.26, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.26, |
| 0.97, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 6.0 |
| } |
| ], |
| "crate": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 2.82, |
| 0.33, |
| 0.97 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.32, |
| 0.13, |
| 0.15 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.99, |
| 0.14, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.14, |
| -0.99, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 5.0 |
| } |
| ], |
| "monitor": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 12.2, |
| 4.58, |
| 1.06 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.58, |
| 0.36, |
| 0.03 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.97, |
| 0.25, |
| 0.03 |
| ], |
| [ |
| 0.08, |
| -0.19, |
| -0.98 |
| ], |
| [ |
| -0.24, |
| 0.95, |
| -0.2 |
| ] |
| ] |
| }, |
| "first visible time": 14.0 |
| } |
| ], |
| "laptop": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 12.55, |
| 4.41, |
| 0.84 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.33, |
| 0.19, |
| 0.32 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.98, |
| 0.2, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.2, |
| 0.98, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 12.0 |
| } |
| ], |
| "suitcase": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 8.3, |
| 2.98, |
| 0.39 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.49, |
| 0.66, |
| 0.28 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.2, |
| 0.98, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.98, |
| 0.2, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 10.0 |
| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 8.27, |
| 3.45, |
| 0.36 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.52, |
| 0.67, |
| 0.23 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.57, |
| 0.82, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.82, |
| 0.57, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 10.0 |
| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 8.2, |
| 3.89, |
| 0.28 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.47, |
| 0.52, |
| 0.18 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.54, |
| 0.84, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.84, |
| 0.54, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 10.0 |
| } |
| ], |
| "trash can": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 2.45, |
| 2.0, |
| 0.17 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.28, |
| 0.28, |
| 0.28 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.98, |
| 0.19, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.19, |
| -0.98, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 4.0 |
| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 2.74, |
| 0.77, |
| 0.37 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.39, |
| 0.73, |
| 0.32 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.75, |
| 0.66, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.66, |
| 0.75, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 4.0 |
| } |
| ], |
| "microwave": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 4.12, |
| 2.46, |
| 0.99 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.46, |
| 0.25, |
| 0.41 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.05, |
| 1.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 1.0, |
| 0.05, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 2.0 |
| } |
| ], |
| "pan": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 3.49, |
| 3.94, |
| 0.97 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.27, |
| 0.08, |
| 0.31 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.91, |
| -0.1, |
| -0.41 |
| ], |
| [ |
| 0.41, |
| 0.05, |
| -0.91 |
| ], |
| [ |
| 0.11, |
| -0.99, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 1.0 |
| } |
| ], |
| "sofa": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 9.74, |
| 2.2, |
| 0.42 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 1.74, |
| 0.87, |
| 0.24 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.96, |
| 0.27, |
| -0.07 |
| ], |
| [ |
| 0.26, |
| -0.79, |
| 0.55 |
| ], |
| [ |
| 0.09, |
| -0.55, |
| -0.83 |
| ] |
| ] |
| }, |
| "first visible time": 8.0 |
| } |
| ], |
| "power strip": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 3.83, |
| 4.22, |
| 1.41 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.14, |
| 0.05, |
| 0.04 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 1.0, |
| 0.08, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.08, |
| -1.0, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 0.0 |
| } |
| ], |
| "cutting board": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 3.45, |
| 4.12, |
| 1.02 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.38, |
| 0.4, |
| 0.05 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.93, |
| -0.15, |
| 0.34 |
| ], |
| [ |
| -0.28, |
| -0.35, |
| -0.89 |
| ], |
| [ |
| 0.26, |
| -0.92, |
| 0.29 |
| ] |
| ] |
| }, |
| "first visible time": 3.0 |
| } |
| ], |
| "kettle": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 12.8, |
| 3.01, |
| 0.55 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.19, |
| 0.26, |
| 0.17 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| -0.66, |
| -0.75, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| -0.75, |
| 0.66, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 13.0 |
| } |
| ], |
| "basket": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 12.93, |
| 3.32, |
| 0.54 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.46, |
| 0.24, |
| 0.3 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.64, |
| -0.76, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| -0.76, |
| -0.64, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 16.0 |
| } |
| ] |
| }, |
| "room": { |
| "floor boundary polygons": [ |
| { |
| "outer boundary coordinates": [ |
| [ |
| 3.85, |
| 0.8 |
| ], |
| [ |
| 9.7, |
| 0.8 |
| ], |
| [ |
| 9.7, |
| 6.64 |
| ], |
| [ |
| 3.85, |
| 6.64 |
| ] |
| ], |
| "interior hole boundary coordinates": [] |
| } |
| ] |
| } |
| } |
