| { |
| "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": { |
| "heater": [ |
| { |
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| }, |
| "first visible time": 14.0 |
| } |
| ], |
| "refrigerator": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| "first visible time": 6.0 |
| } |
| ], |
| "chair": [ |
| { |
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| "3D oriented bounding box orientation unit vectors": [ |
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| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| }, |
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| }, |
| { |
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| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| }, |
| "first visible time": 7.0 |
| }, |
| { |
| "3D oriented bounding box": { |
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| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| [ |
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| }, |
| "first visible time": 7.0 |
| } |
| ], |
| "sofa": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| { |
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| "3D oriented bounding box center coordinates": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| { |
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| "3D oriented bounding box orientation unit vectors": [ |
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| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| ], |
| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| }, |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| { |
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| ], |
| "ceiling light": [ |
| { |
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| "3D oriented bounding box center coordinates": [ |
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| { |
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| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| [ |
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| } |
| ], |
| "door": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| ], |
| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| [ |
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| { |
| "3D oriented bounding box": { |
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| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| "bed": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| } |
| ], |
| "computer mouse": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| ], |
| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| [ |
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| ] |
| }, |
| "first visible time": null |
| } |
| ], |
| "keyboard": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 5.45, |
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| ], |
| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| [ |
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| [ |
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| }, |
| "first visible time": 1.0 |
| } |
| ], |
| "tv": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 5.42, |
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| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| [ |
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| "first visible time": 3.0 |
| } |
| ], |
| "printer": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
| [ |
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| [ |
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| [ |
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| }, |
| "first visible time": 16.0 |
| } |
| ], |
| "kettle": [ |
| { |
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| "3D oriented bounding box center coordinates": [ |
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| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
| [ |
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| [ |
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| 1.0 |
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| [ |
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| ] |
| }, |
| "first visible time": 13.0 |
| } |
| ], |
| "bowl": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 6.78, |
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| 0.96 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 0.29, |
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| "3D oriented bounding box orientation unit vectors": [ |
| [ |
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| [ |
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| [ |
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| ] |
| }, |
| "first visible time": 15.0 |
| } |
| ], |
| "cutting board": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 7.52, |
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| ], |
| "3D oriented bounding box dimensions": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
| [ |
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| [ |
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| [ |
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| "first visible time": 11.0 |
| } |
| ], |
| "basket": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
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| "3D oriented bounding box orientation unit vectors": [ |
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| [ |
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| "first visible time": 2.0 |
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| { |
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| [ |
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| [ |
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| "first visible time": 2.0 |
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| { |
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| "3D oriented bounding box orientation unit vectors": [ |
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| [ |
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| [ |
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| "first visible time": 2.0 |
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| { |
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| "pan": [ |
| { |
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| "3D oriented bounding box center coordinates": [ |
| 7.3, |
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| [ |
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| 0.0, |
| 1.0 |
| ], |
| [ |
| -0.81, |
| 0.58, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 9.0 |
| } |
| ], |
| "blanket": [ |
| { |
| "3D oriented bounding box": { |
| "3D oriented bounding box center coordinates": [ |
| 2.86, |
| 1.23, |
| 0.48 |
| ], |
| "3D oriented bounding box dimensions": [ |
| 2.38, |
| 0.79, |
| 1.67 |
| ], |
| "3D oriented bounding box orientation unit vectors": [ |
| [ |
| 0.97, |
| 0.23, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| [ |
| 0.23, |
| -0.97, |
| 0.0 |
| ] |
| ] |
| }, |
| "first visible time": 8.0 |
| } |
| ] |
| }, |
| "room": { |
| "floor boundary polygons": [ |
| { |
| "outer boundary coordinates": [ |
| [ |
| 2.56, |
| 0.99 |
| ], |
| [ |
| 10.15, |
| 0.99 |
| ], |
| [ |
| 10.15, |
| 8.58 |
| ], |
| [ |
| 2.56, |
| 8.58 |
| ] |
| ], |
| "interior hole boundary coordinates": [] |
| } |
| ] |
| } |
| } |
