Zhong commited on
Commit
daa7a0e
·
verified ·
1 Parent(s): 107afaa

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00016.json +163 -0
  2. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00032.json +163 -0
  3. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00047.json +163 -0
  4. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00054.json +163 -0
  5. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00055.json +163 -0
  6. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00056.json +163 -0
  7. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00057.json +163 -0
  8. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00058.json +163 -0
  9. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00059.json +163 -0
  10. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00060.json +163 -0
  11. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00061.json +213 -0
  12. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00062.json +213 -0
  13. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00063.json +213 -0
  14. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00064.json +213 -0
  15. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00065.json +213 -0
  16. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00066.json +213 -0
  17. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00067.json +213 -0
  18. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00068.json +213 -0
  19. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00069.json +213 -0
  20. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00070.json +213 -0
  21. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00071.json +213 -0
  22. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00072.json +163 -0
  23. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00073.json +163 -0
  24. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00074.json +163 -0
  25. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00075.json +163 -0
  26. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00076.json +163 -0
  27. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00077.json +163 -0
  28. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00078.json +163 -0
  29. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00079.json +163 -0
  30. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00080.json +163 -0
  31. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00081.json +163 -0
  32. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00082.json +163 -0
  33. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00083.json +163 -0
  34. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00084.json +163 -0
  35. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00085.json +163 -0
  36. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00086.json +163 -0
  37. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00087.json +163 -0
  38. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00088.json +163 -0
  39. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00089.json +163 -0
  40. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00090.json +163 -0
  41. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00091.json +163 -0
  42. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00092.json +163 -0
  43. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00093.json +163 -0
  44. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00094.json +163 -0
  45. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00095.json +163 -0
  46. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00096.json +163 -0
  47. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00097.json +163 -0
  48. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00098.json +163 -0
  49. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00099.json +163 -0
  50. annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00100.json +163 -0
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00016.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.40213626623153687,
26
+ "bounding_box_2D_extent_y": 0.5063217878341675,
27
+ "bounding_box_2D_origin_x": 0.11886488646268845,
28
+ "bounding_box_2D_origin_y": 0.4936782121658325,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.07916259765625,
33
+ "bounding_box_3D_origin_y": 1.00244140625,
34
+ "bounding_box_3D_origin_z": -0.7351531982421875,
35
+ "bounding_box_3D_pitch": -0.011358806863427162,
36
+ "bounding_box_3D_pitch_deg": -0.6508116722106934,
37
+ "bounding_box_3D_roll": -0.013766738586127758,
38
+ "bounding_box_3D_roll_deg": -0.7887760400772095,
39
+ "bounding_box_3D_yaw": 1.6453330516815186,
40
+ "bounding_box_3D_yaw_deg": 94.27063751220703,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0,
46
+ "relative_velocity_x": -0.0750538557767868,
47
+ "relative_velocity_y": 0.9971200823783875,
48
+ "relative_velocity_z": 0.011351380497217178,
49
+ "total_pixels": 162059,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 162059
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.039556801319122314,
76
+ "bounding_box_2D_extent_y": 0.047145694494247437,
77
+ "bounding_box_2D_origin_x": 0.5212522745132446,
78
+ "bounding_box_2D_origin_y": 0.471819669008255,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 47.10418701171875,
83
+ "bounding_box_3D_origin_y": -1.51806640625,
84
+ "bounding_box_3D_origin_z": 0.6562957763671875,
85
+ "bounding_box_3D_pitch": 0.05340470373630524,
86
+ "bounding_box_3D_pitch_deg": 3.0598642826080322,
87
+ "bounding_box_3D_roll": 0.011092162691056728,
88
+ "bounding_box_3D_roll_deg": 0.6355341076850891,
89
+ "bounding_box_3D_yaw": 2.7990763187408447,
90
+ "bounding_box_3D_yaw_deg": 160.37525939941406,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 1.0,
96
+ "relative_velocity_x": -11.33061408996582,
97
+ "relative_velocity_y": 3.9026846885681152,
98
+ "relative_velocity_z": -0.6215673089027405,
99
+ "total_pixels": 2072,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 0
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 0.64,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 16,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.31159472465515137,
140
+ 0.026831932365894318,
141
+ -0.949836254119873,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9493027925491333,
146
+ 0.052583735436201096,
147
+ -0.3099342882633209,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.04162979871034622,
152
+ 0.9982560873031616,
153
+ 0.04185643792152405,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4746.5869140625,
158
+ 178.13584899902344,
159
+ -655.6553344726563,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00032.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3551473617553711,
26
+ "bounding_box_2D_extent_y": 0.4858909845352173,
27
+ "bounding_box_2D_origin_x": 0.25475960969924927,
28
+ "bounding_box_2D_origin_y": 0.5048696994781494,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.556640625,
33
+ "bounding_box_3D_origin_y": 0.4814453125,
34
+ "bounding_box_3D_origin_z": -0.76348876953125,
35
+ "bounding_box_3D_pitch": 0.0018257993506267667,
36
+ "bounding_box_3D_pitch_deg": 0.10461059957742691,
37
+ "bounding_box_3D_roll": -0.008620207197964191,
38
+ "bounding_box_3D_roll_deg": -0.49390149116516113,
39
+ "bounding_box_3D_yaw": 1.6144580841064453,
40
+ "bounding_box_3D_yaw_deg": 92.50163269042969,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0005388855934143066,
46
+ "relative_velocity_x": -0.043671682476997375,
47
+ "relative_velocity_y": 0.9990493655204773,
48
+ "relative_velocity_z": -0.0018260162323713303,
49
+ "total_pixels": 131752,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 131681
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.05466976761817932,
76
+ "bounding_box_2D_extent_y": 0.05466872453689575,
77
+ "bounding_box_2D_origin_x": 0.482187956571579,
78
+ "bounding_box_2D_origin_y": 0.4832817316055298,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 40.74920654296875,
83
+ "bounding_box_3D_origin_y": 0.3505859375,
84
+ "bounding_box_3D_origin_z": 0.12762451171875,
85
+ "bounding_box_3D_pitch": 0.04411882907152176,
86
+ "bounding_box_3D_pitch_deg": 2.527822732925415,
87
+ "bounding_box_3D_roll": 0.023020464926958084,
88
+ "bounding_box_3D_roll_deg": 1.3189754486083984,
89
+ "bounding_box_3D_yaw": 2.6126861572265625,
90
+ "bounding_box_3D_yaw_deg": 149.69589233398438,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 0.9774718284606934,
96
+ "relative_velocity_x": -10.414986610412598,
97
+ "relative_velocity_y": 5.9390482902526855,
98
+ "relative_velocity_z": -0.5058216452598572,
99
+ "total_pixels": 3196,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 72
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 1.28,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 32,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.3213738203048706,
140
+ 0.027114789932966232,
141
+ -0.9465641379356384,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9465512633323669,
146
+ 0.038291316479444504,
147
+ -0.3202725648880005,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.027561061084270477,
152
+ 0.9988986849784851,
153
+ 0.037971366196870804,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4740.158203125,
158
+ 110.428955078125,
159
+ -707.5276489257813,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00047.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3624667525291443,
26
+ "bounding_box_2D_extent_y": 0.48670727014541626,
27
+ "bounding_box_2D_origin_x": 0.18176032602787018,
28
+ "bounding_box_2D_origin_y": 0.5132927298545837,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.5274658203125,
33
+ "bounding_box_3D_origin_y": 0.83740234375,
34
+ "bounding_box_3D_origin_z": -0.790863037109375,
35
+ "bounding_box_3D_pitch": 0.004296677187085152,
36
+ "bounding_box_3D_pitch_deg": 0.24618147313594818,
37
+ "bounding_box_3D_roll": -0.0026296593714505434,
38
+ "bounding_box_3D_roll_deg": -0.15066838264465332,
39
+ "bounding_box_3D_yaw": 1.80062735080719,
40
+ "bounding_box_3D_yaw_deg": 103.16835021972656,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 6.681680679321289e-05,
46
+ "relative_velocity_x": -0.22766520082950592,
47
+ "relative_velocity_y": 0.9737351536750793,
48
+ "relative_velocity_z": -0.004297239705920219,
49
+ "total_pixels": 134704,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 134695
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.07838305830955505,
76
+ "bounding_box_2D_extent_y": 0.06576934456825256,
77
+ "bounding_box_2D_origin_x": 0.25116005539894104,
78
+ "bounding_box_2D_origin_y": 0.4975471794605255,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 33.866180419921875,
83
+ "bounding_box_3D_origin_y": 9.7802734375,
84
+ "bounding_box_3D_origin_z": -0.3699951171875,
85
+ "bounding_box_3D_pitch": 0.031443577259778976,
86
+ "bounding_box_3D_pitch_deg": 1.801584243774414,
87
+ "bounding_box_3D_roll": 0.029071593657135963,
88
+ "bounding_box_3D_roll_deg": 1.665679693222046,
89
+ "bounding_box_3D_yaw": 2.6271958351135254,
90
+ "bounding_box_3D_yaw_deg": 150.52723693847656,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 0.41360872983932495,
96
+ "relative_velocity_x": -10.506041526794434,
97
+ "relative_velocity_y": 5.786357402801514,
98
+ "relative_velocity_z": -0.37582436203956604,
99
+ "total_pixels": 5423,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 3180
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 1.88,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 47,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.14700694382190704,
140
+ 0.022374140098690987,
141
+ -0.9888823628425598,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9886763095855713,
146
+ 0.033784277737140656,
147
+ -0.1462118923664093,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.030137313529849052,
152
+ 0.9991787075996399,
153
+ 0.027087301015853882,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4789.654296875,
158
+ 93.18938446044922,
159
+ 149.8654022216797,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00054.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3608373999595642,
26
+ "bounding_box_2D_extent_y": 0.48718035221099854,
27
+ "bounding_box_2D_origin_x": 0.18383997678756714,
28
+ "bounding_box_2D_origin_y": 0.5128196477890015,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.5413818359375,
33
+ "bounding_box_3D_origin_y": 0.82275390625,
34
+ "bounding_box_3D_origin_z": -0.7896270751953125,
35
+ "bounding_box_3D_pitch": 0.0011039808159694076,
36
+ "bounding_box_3D_pitch_deg": 0.06325343996286392,
37
+ "bounding_box_3D_roll": -0.0029773572459816933,
38
+ "bounding_box_3D_roll_deg": -0.17059001326560974,
39
+ "bounding_box_3D_yaw": 1.8524458408355713,
40
+ "bounding_box_3D_yaw_deg": 106.1373291015625,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 3.719329833984375e-05,
46
+ "relative_velocity_x": -0.2777816951274872,
47
+ "relative_velocity_y": 0.960648775100708,
48
+ "relative_velocity_z": -0.0011044368147850037,
49
+ "total_pixels": 134428,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 134423
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.09438350796699524,
76
+ "bounding_box_2D_extent_y": 0.07233831286430359,
77
+ "bounding_box_2D_origin_x": 0.14813680946826935,
78
+ "bounding_box_2D_origin_y": 0.4996766149997711,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 30.6265869140625,
83
+ "bounding_box_3D_origin_y": 12.546875,
84
+ "bounding_box_3D_origin_z": -0.4536590576171875,
85
+ "bounding_box_3D_pitch": 0.026732811704277992,
86
+ "bounding_box_3D_pitch_deg": 1.53167724609375,
87
+ "bounding_box_3D_roll": 0.022296015173196793,
88
+ "bounding_box_3D_roll_deg": 1.2774676084518433,
89
+ "bounding_box_3D_yaw": 2.5983951091766357,
90
+ "bounding_box_3D_yaw_deg": 148.8770751953125,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 0.30243629217147827,
96
+ "relative_velocity_x": -10.333320617675781,
97
+ "relative_velocity_y": 6.090086936950684,
98
+ "relative_velocity_z": -0.365230530500412,
99
+ "total_pixels": 7142,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 4982
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.16,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 54,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.10128123313188553,
140
+ 0.021534355357289314,
141
+ -0.9946247935295105,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9942594766616821,
146
+ 0.03686170279979706,
147
+ -0.100445955991745,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.034500520676374435,
152
+ 0.9990884065628052,
153
+ 0.02514413371682167,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4776.82275390625,
158
+ 108.42340087890625,
159
+ 370.5628356933594,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00055.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.36017513275146484,
26
+ "bounding_box_2D_extent_y": 0.48772865533828735,
27
+ "bounding_box_2D_origin_x": 0.18589158356189728,
28
+ "bounding_box_2D_origin_y": 0.5122713446617126,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.545562744140625,
33
+ "bounding_box_3D_origin_y": 0.81103515625,
34
+ "bounding_box_3D_origin_z": -0.7878875732421875,
35
+ "bounding_box_3D_pitch": 0.000569736585021019,
36
+ "bounding_box_3D_pitch_deg": 0.032643500715494156,
37
+ "bounding_box_3D_roll": -0.003377059008926153,
38
+ "bounding_box_3D_roll_deg": -0.19349123537540436,
39
+ "bounding_box_3D_yaw": 1.8581916093826294,
40
+ "bounding_box_3D_yaw_deg": 106.46653747558594,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 4.470348358154297e-05,
46
+ "relative_velocity_x": -0.28329595923423767,
47
+ "relative_velocity_y": 0.9590376615524292,
48
+ "relative_velocity_z": -0.0005701184272766113,
49
+ "total_pixels": 134231,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 134225
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.09690703451633453,
76
+ "bounding_box_2D_extent_y": 0.07337713241577148,
77
+ "bounding_box_2D_origin_x": 0.1332738846540451,
78
+ "bounding_box_2D_origin_y": 0.49943673610687256,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 30.181182861328125,
83
+ "bounding_box_3D_origin_y": 12.8837890625,
84
+ "bounding_box_3D_origin_z": -0.4527435302734375,
85
+ "bounding_box_3D_pitch": 0.026305409148335457,
86
+ "bounding_box_3D_pitch_deg": 1.5071889162063599,
87
+ "bounding_box_3D_roll": 0.022008009254932404,
88
+ "bounding_box_3D_roll_deg": 1.2609660625457764,
89
+ "bounding_box_3D_yaw": 2.5928854942321777,
90
+ "bounding_box_3D_yaw_deg": 148.5614013671875,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 0.29609692096710205,
96
+ "relative_velocity_x": -10.298978805541992,
97
+ "relative_velocity_y": 6.14802885055542,
98
+ "relative_velocity_z": -0.36451613903045654,
99
+ "total_pixels": 7430,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 5230
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.2,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 55,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.09641440212726593,
140
+ 0.021702663972973824,
141
+ -0.9951047301292419,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9947167038917542,
146
+ 0.03751391917467117,
147
+ -0.09555865824222565,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03525639325380325,
152
+ 0.9990605115890503,
153
+ 0.02520488202571869,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4774.806640625,
158
+ 111.3577880859375,
159
+ 393.9973449707031,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00056.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.35947665572166443,
26
+ "bounding_box_2D_extent_y": 0.48850566148757935,
27
+ "bounding_box_2D_origin_x": 0.18837472796440125,
28
+ "bounding_box_2D_origin_y": 0.5114943385124207,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.550262451171875,
33
+ "bounding_box_3D_origin_y": 0.7998046875,
34
+ "bounding_box_3D_origin_z": -0.78533935546875,
35
+ "bounding_box_3D_pitch": 0.0007213056087493896,
36
+ "bounding_box_3D_pitch_deg": 0.041327767074108124,
37
+ "bounding_box_3D_roll": -0.003827302483841777,
38
+ "bounding_box_3D_roll_deg": -0.21928827464580536,
39
+ "bounding_box_3D_yaw": 1.86359441280365,
40
+ "bounding_box_3D_yaw_deg": 106.77609252929688,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00011938810348510742,
46
+ "relative_velocity_x": -0.2884697914123535,
47
+ "relative_velocity_y": 0.9574940800666809,
48
+ "relative_velocity_z": -0.0007215961813926697,
49
+ "total_pixels": 134004,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 133988
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.09949725866317749,
76
+ "bounding_box_2D_extent_y": 0.07450073957443237,
77
+ "bounding_box_2D_origin_x": 0.11833047866821289,
78
+ "bounding_box_2D_origin_y": 0.4992692470550537,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 29.74066162109375,
83
+ "bounding_box_3D_origin_y": 13.21240234375,
84
+ "bounding_box_3D_origin_z": -0.453704833984375,
85
+ "bounding_box_3D_pitch": 0.026255737990140915,
86
+ "bounding_box_3D_pitch_deg": 1.504343032836914,
87
+ "bounding_box_3D_roll": 0.021953968331217766,
88
+ "bounding_box_3D_roll_deg": 1.2578697204589844,
89
+ "bounding_box_3D_yaw": 2.586833953857422,
90
+ "bounding_box_3D_yaw_deg": 148.2146759033203,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 0.29157501459121704,
96
+ "relative_velocity_x": -10.262770652770996,
97
+ "relative_velocity_y": 6.208346843719482,
98
+ "relative_velocity_z": -0.3634040653705597,
99
+ "total_pixels": 7727,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 5474
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.24,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 56,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.0918898954987526,
140
+ 0.02217700332403183,
141
+ -0.9955222010612488,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9951412677764893,
146
+ 0.037542711943387985,
147
+ -0.09101840853691101,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03535608574748039,
152
+ 0.9990488886833191,
153
+ 0.025519048795104027,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4772.89697265625,
158
+ 111.09136962890625,
159
+ 415.72955322265625,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00057.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3586660623550415,
26
+ "bounding_box_2D_extent_y": 0.48905128240585327,
27
+ "bounding_box_2D_origin_x": 0.191200390458107,
28
+ "bounding_box_2D_origin_y": 0.5109487175941467,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.5556640625,
33
+ "bounding_box_3D_origin_y": 0.78662109375,
34
+ "bounding_box_3D_origin_z": -0.783599853515625,
35
+ "bounding_box_3D_pitch": 0.0002840645902324468,
36
+ "bounding_box_3D_pitch_deg": 0.01627570204436779,
37
+ "bounding_box_3D_roll": -0.00422177417203784,
38
+ "bounding_box_3D_roll_deg": -0.2418898493051529,
39
+ "bounding_box_3D_yaw": 1.8686476945877075,
40
+ "bounding_box_3D_yaw_deg": 107.06562805175781,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 7.480382919311523e-05,
46
+ "relative_velocity_x": -0.29330745339393616,
47
+ "relative_velocity_y": 0.9560234546661377,
48
+ "relative_velocity_z": -0.0002842918038368225,
49
+ "total_pixels": 133702,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 133692
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.10213646292686462,
76
+ "bounding_box_2D_extent_y": 0.07560911774635315,
77
+ "bounding_box_2D_origin_x": 0.10324683785438538,
78
+ "bounding_box_2D_origin_y": 0.49894145131111145,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 29.30535888671875,
83
+ "bounding_box_3D_origin_y": 13.53173828125,
84
+ "bounding_box_3D_origin_z": -0.4513092041015625,
85
+ "bounding_box_3D_pitch": 0.026334600523114204,
86
+ "bounding_box_3D_pitch_deg": 1.5088615417480469,
87
+ "bounding_box_3D_roll": 0.022932665422558784,
88
+ "bounding_box_3D_roll_deg": 1.313944935798645,
89
+ "bounding_box_3D_yaw": 2.5806918144226074,
90
+ "bounding_box_3D_yaw_deg": 147.8627471923828,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 0.2834537625312805,
96
+ "relative_velocity_x": -10.223008155822754,
97
+ "relative_velocity_y": 6.274144649505615,
98
+ "relative_velocity_z": -0.35397884249687195,
99
+ "total_pixels": 8026,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 5751
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.28,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 57,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.08771249651908875,
140
+ 0.0223787110298872,
141
+ -0.9958944320678711,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9954953789710999,
146
+ 0.0380953811109066,
147
+ -0.0868212878704071,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.035996031016111374,
152
+ 0.9990236163139343,
153
+ 0.02561933919787407,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4770.97509765625,
158
+ 113.5277099609375,
159
+ 435.8141784667969,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00058.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3577810227870941,
26
+ "bounding_box_2D_extent_y": 0.4887714982032776,
27
+ "bounding_box_2D_origin_x": 0.19425126910209656,
28
+ "bounding_box_2D_origin_y": 0.5112285017967224,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.5615234375,
33
+ "bounding_box_3D_origin_y": 0.77099609375,
34
+ "bounding_box_3D_origin_z": -0.7845458984375,
35
+ "bounding_box_3D_pitch": -7.699616253376007e-05,
36
+ "bounding_box_3D_pitch_deg": -0.004411555361002684,
37
+ "bounding_box_3D_roll": -0.004078233614563942,
38
+ "bounding_box_3D_roll_deg": -0.2336655706167221,
39
+ "bounding_box_3D_yaw": 1.8733810186386108,
40
+ "bounding_box_3D_yaw_deg": 107.33683013916016,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 5.996227264404297e-05,
46
+ "relative_velocity_x": -0.2978315055370331,
47
+ "relative_velocity_y": 0.9546237587928772,
48
+ "relative_velocity_z": 7.674098014831543e-05,
49
+ "total_pixels": 133366,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 133358
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.10483694076538086,
76
+ "bounding_box_2D_extent_y": 0.07673132419586182,
77
+ "bounding_box_2D_origin_x": 0.0879853367805481,
78
+ "bounding_box_2D_origin_y": 0.4994748830795288,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 28.87554931640625,
83
+ "bounding_box_3D_origin_y": 13.84228515625,
84
+ "bounding_box_3D_origin_z": -0.466705322265625,
85
+ "bounding_box_3D_pitch": 0.025304198265075684,
86
+ "bounding_box_3D_pitch_deg": 1.4498237371444702,
87
+ "bounding_box_3D_roll": 0.02319696731865406,
88
+ "bounding_box_3D_roll_deg": 1.3290883302688599,
89
+ "bounding_box_3D_yaw": 2.5739927291870117,
90
+ "bounding_box_3D_yaw_deg": 147.4789276123047,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 0.27745872735977173,
96
+ "relative_velocity_x": -10.182594299316406,
97
+ "relative_velocity_y": 6.340793132781982,
98
+ "relative_velocity_z": -0.33044975996017456,
99
+ "total_pixels": 8358,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 6039
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.32,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 58,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.08383599668741226,
140
+ 0.022113079205155373,
141
+ -0.9962341785430908,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9958149194717407,
146
+ 0.038367994129657745,
147
+ -0.08294907212257385,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.036389246582984924,
152
+ 0.9990189671516418,
153
+ 0.025237152352929115,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4769.13525390625,
158
+ 115.03927612304688,
159
+ 454.36053466796875,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00059.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.35669615864753723,
26
+ "bounding_box_2D_extent_y": 0.48947393894195557,
27
+ "bounding_box_2D_origin_x": 0.1977306306362152,
28
+ "bounding_box_2D_origin_y": 0.5105260610580444,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.56768798828125,
33
+ "bounding_box_3D_origin_y": 0.7548828125,
34
+ "bounding_box_3D_origin_z": -0.7822113037109375,
35
+ "bounding_box_3D_pitch": 7.713773084105924e-05,
36
+ "bounding_box_3D_pitch_deg": 0.00441966624930501,
37
+ "bounding_box_3D_roll": -0.004487564787268639,
38
+ "bounding_box_3D_roll_deg": -0.2571185231208801,
39
+ "bounding_box_3D_yaw": 1.8777973651885986,
40
+ "bounding_box_3D_yaw_deg": 107.5898666381836,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 9.775161743164063e-05,
46
+ "relative_velocity_x": -0.3020443618297577,
47
+ "relative_velocity_y": 0.9532991647720337,
48
+ "relative_velocity_z": -7.732957601547241e-05,
49
+ "total_pixels": 133001,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 132988
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.10758121311664581,
76
+ "bounding_box_2D_extent_y": 0.07798200845718384,
77
+ "bounding_box_2D_origin_x": 0.07259005308151245,
78
+ "bounding_box_2D_origin_y": 0.49931639432907104,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 28.4500732421875,
83
+ "bounding_box_3D_origin_y": 14.14453125,
84
+ "bounding_box_3D_origin_z": -0.468109130859375,
85
+ "bounding_box_3D_pitch": 0.025771351531147957,
86
+ "bounding_box_3D_pitch_deg": 1.4765896797180176,
87
+ "bounding_box_3D_roll": 0.02256757766008377,
88
+ "bounding_box_3D_roll_deg": 1.2930269241333008,
89
+ "bounding_box_3D_yaw": 2.5671567916870117,
90
+ "bounding_box_3D_yaw_deg": 147.08724975585938,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 0.27182793617248535,
96
+ "relative_velocity_x": -10.137939453125,
97
+ "relative_velocity_y": 6.4123029708862305,
98
+ "relative_velocity_z": -0.3234942555427551,
99
+ "total_pixels": 8693,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 6330
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.36,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 59,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.0802665501832962,
140
+ 0.022551175206899643,
141
+ -0.9965183138847351,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9961066246032715,
146
+ 0.038376934826374054,
147
+ -0.07936492562294006,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03645354509353638,
152
+ 0.99900883436203,
153
+ 0.025543760508298874,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4767.40966796875,
158
+ 114.7099380493164,
159
+ 471.46881103515625,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00060.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3557685613632202,
26
+ "bounding_box_2D_extent_y": 0.48998260498046875,
27
+ "bounding_box_2D_origin_x": 0.2013595700263977,
28
+ "bounding_box_2D_origin_y": 0.5100173950195313,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.574371337890625,
33
+ "bounding_box_3D_origin_y": 0.736328125,
34
+ "bounding_box_3D_origin_z": -0.780609130859375,
35
+ "bounding_box_3D_pitch": -0.00023383833467960358,
36
+ "bounding_box_3D_pitch_deg": -0.013397949747741222,
37
+ "bounding_box_3D_roll": -0.004849512130022049,
38
+ "bounding_box_3D_roll_deg": -0.27785658836364746,
39
+ "bounding_box_3D_yaw": 1.881898045539856,
40
+ "bounding_box_3D_yaw_deg": 107.82481384277344,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 6.031990051269531e-05,
46
+ "relative_velocity_x": -0.30595141649246216,
47
+ "relative_velocity_y": 0.9520524740219116,
48
+ "relative_velocity_z": 0.00023370422422885895,
49
+ "total_pixels": 132675,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 132667
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 3.032508773803711,
58
+ 0.9328704071044922,
59
+ 1.224620132446289
60
+ ],
61
+ "min": [
62
+ -0.5406101226806641,
63
+ -0.9328704071044922,
64
+ -0.318932991027832
65
+ ]
66
+ },
67
+ "triangle_count": 98320.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.11040206998586655,
76
+ "bounding_box_2D_extent_y": 0.0791512131690979,
77
+ "bounding_box_2D_origin_x": 0.05702779442071915,
78
+ "bounding_box_2D_origin_y": 0.4991145133972168,
79
+ "bounding_box_3D_extent_x": 3.5546178817749023,
80
+ "bounding_box_3D_extent_y": 1.8593058586120605,
81
+ "bounding_box_3D_extent_z": 1.522562861442566,
82
+ "bounding_box_3D_origin_x": 28.03118896484375,
83
+ "bounding_box_3D_origin_y": 14.4384765625,
84
+ "bounding_box_3D_origin_z": -0.4682464599609375,
85
+ "bounding_box_3D_pitch": 0.02537742257118225,
86
+ "bounding_box_3D_pitch_deg": 1.4540191888809204,
87
+ "bounding_box_3D_roll": 0.022792113944888115,
88
+ "bounding_box_3D_roll_deg": 1.305891990661621,
89
+ "bounding_box_3D_yaw": 2.559471607208252,
90
+ "bounding_box_3D_yaw_deg": 146.6469268798828,
91
+ "object_class": "Car",
92
+ "object_id": 3905,
93
+ "object_name": "exo (8)",
94
+ "object_owner_id": 3905,
95
+ "occluded": 0.2643410563468933,
96
+ "relative_velocity_x": -10.09177017211914,
97
+ "relative_velocity_y": 6.484833717346191,
98
+ "relative_velocity_z": -0.3212771415710449,
99
+ "total_pixels": 9030,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 6643
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.4,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 60,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.07701895385980606,
140
+ 0.022773906588554382,
141
+ -0.9967695474624634,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9963455200195313,
146
+ 0.038787953555583954,
147
+ -0.07609996944665909,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.036929551512002945,
152
+ 0.9989880323410034,
153
+ 0.025678085163235664,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4765.72705078125,
158
+ 116.4600830078125,
159
+ 487.0511779785156,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00061.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.35460364818573,
26
+ "bounding_box_2D_extent_y": 0.4904988408088684,
27
+ "bounding_box_2D_origin_x": 0.20529039204120636,
28
+ "bounding_box_2D_origin_y": 0.5095011591911316,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.58154296875,
33
+ "bounding_box_3D_origin_y": 0.71875,
34
+ "bounding_box_3D_origin_z": -0.778900146484375,
35
+ "bounding_box_3D_pitch": -0.00047249163617379963,
36
+ "bounding_box_3D_pitch_deg": -0.02707177773118019,
37
+ "bounding_box_3D_roll": -0.005212326999753714,
38
+ "bounding_box_3D_roll_deg": -0.2986443340778351,
39
+ "bounding_box_3D_yaw": 1.885758399963379,
40
+ "bounding_box_3D_yaw_deg": 108.0459976196289,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 4.5299530029296875e-05,
46
+ "relative_velocity_x": -0.30962735414505005,
47
+ "relative_velocity_y": 0.950863242149353,
48
+ "relative_velocity_z": 0.0004724040627479553,
49
+ "total_pixels": 132395,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 132389
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04292219877243042,
76
+ "bounding_box_2D_extent_y": 0.038233041763305664,
77
+ "bounding_box_2D_origin_x": 0.3490575850009918,
78
+ "bounding_box_2D_origin_y": 0.4519978165626526,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 78.13723754882813,
83
+ "bounding_box_3D_origin_y": 14.52783203125,
84
+ "bounding_box_3D_origin_z": 2.4678497314453125,
85
+ "bounding_box_3D_pitch": 0.06811044365167618,
86
+ "bounding_box_3D_pitch_deg": 3.9024410247802734,
87
+ "bounding_box_3D_roll": 0.050803396850824356,
88
+ "bounding_box_3D_roll_deg": 2.910820245742798,
89
+ "bounding_box_3D_yaw": -2.4938464164733887,
90
+ "bounding_box_3D_yaw_deg": -142.88687133789063,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.9478054642677307,
96
+ "relative_velocity_x": -9.469622611999512,
97
+ "relative_velocity_y": -7.324281215667725,
98
+ "relative_velocity_z": -0.8253922462463379,
99
+ "total_pixels": 1686,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 88
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.11326800286769867,
126
+ "bounding_box_2D_extent_y": 0.08039343357086182,
127
+ "bounding_box_2D_origin_x": 0.0412333719432354,
128
+ "bounding_box_2D_origin_y": 0.49888503551483154,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 27.61602783203125,
133
+ "bounding_box_3D_origin_y": 14.728515625,
134
+ "bounding_box_3D_origin_z": -0.4680938720703125,
135
+ "bounding_box_3D_pitch": 0.025522448122501373,
136
+ "bounding_box_3D_pitch_deg": 1.462328553199768,
137
+ "bounding_box_3D_roll": 0.022834720090031624,
138
+ "bounding_box_3D_roll_deg": 1.308333158493042,
139
+ "bounding_box_3D_yaw": 2.5526931285858154,
140
+ "bounding_box_3D_yaw_deg": 146.258544921875,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.2594168782234192,
146
+ "relative_velocity_x": -10.040271759033203,
147
+ "relative_velocity_y": 6.564639091491699,
148
+ "relative_velocity_z": -0.3139285743236542,
149
+ "total_pixels": 9398,
150
+ "truncated": 0.0,
151
+ "visible_pixels": 6960
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.44,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 61,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.07399400323629379,
190
+ 0.023010507225990295,
191
+ -0.9969931840896606,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.996558427810669,
196
+ 0.039166342467069626,
197
+ -0.07305777072906494,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.037367481738328934,
202
+ 0.9989678263664246,
203
+ 0.025829385966062546,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4764.10986328125,
208
+ 118.04450988769531,
209
+ 501.5583190917969,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00062.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3534526824951172,
26
+ "bounding_box_2D_extent_y": 0.4909667372703552,
27
+ "bounding_box_2D_origin_x": 0.20943354070186615,
28
+ "bounding_box_2D_origin_y": 0.5090332627296448,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.5888671875,
33
+ "bounding_box_3D_origin_y": 0.6982421875,
34
+ "bounding_box_3D_origin_z": -0.7773590087890625,
35
+ "bounding_box_3D_pitch": -0.0007065906538628042,
36
+ "bounding_box_3D_pitch_deg": -0.04048466309905052,
37
+ "bounding_box_3D_roll": -0.005550749599933624,
38
+ "bounding_box_3D_roll_deg": -0.3180345296859741,
39
+ "bounding_box_3D_yaw": 1.8893944025039673,
40
+ "bounding_box_3D_yaw_deg": 108.25432586669922,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00011354684829711914,
46
+ "relative_velocity_x": -0.3130807876586914,
47
+ "relative_velocity_y": 0.949731707572937,
48
+ "relative_velocity_z": 0.0007065702229738235,
49
+ "total_pixels": 132107,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 132092
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.042859017848968506,
76
+ "bounding_box_2D_extent_y": 0.03845587372779846,
77
+ "bounding_box_2D_origin_x": 0.3495883643627167,
78
+ "bounding_box_2D_origin_y": 0.4518427550792694,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 77.72454833984375,
83
+ "bounding_box_3D_origin_y": 14.40185546875,
84
+ "bounding_box_3D_origin_z": 2.4579315185546875,
85
+ "bounding_box_3D_pitch": 0.06906399130821228,
86
+ "bounding_box_3D_pitch_deg": 3.957075357437134,
87
+ "bounding_box_3D_roll": 0.04976999759674072,
88
+ "bounding_box_3D_roll_deg": 2.8516108989715576,
89
+ "bounding_box_3D_yaw": -2.5011935234069824,
90
+ "bounding_box_3D_yaw_deg": -143.30783081054688,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.9414201378822327,
96
+ "relative_velocity_x": -9.52627944946289,
97
+ "relative_velocity_y": -7.250478744506836,
98
+ "relative_velocity_z": -0.8250395059585571,
99
+ "total_pixels": 1690,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 99
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.11619817465543747,
126
+ "bounding_box_2D_extent_y": 0.0816626250743866,
127
+ "bounding_box_2D_origin_x": 0.025155996903777122,
128
+ "bounding_box_2D_origin_y": 0.49859514832496643,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 27.2059326171875,
133
+ "bounding_box_3D_origin_y": 15.01318359375,
134
+ "bounding_box_3D_origin_z": -0.4667510986328125,
135
+ "bounding_box_3D_pitch": 0.02541356347501278,
136
+ "bounding_box_3D_pitch_deg": 1.456089973449707,
137
+ "bounding_box_3D_roll": 0.022101009264588356,
138
+ "bounding_box_3D_roll_deg": 1.2662945985794067,
139
+ "bounding_box_3D_yaw": 2.545057773590088,
140
+ "bounding_box_3D_yaw_deg": 145.82107543945313,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.2544021010398865,
146
+ "relative_velocity_x": -9.993999481201172,
147
+ "relative_velocity_y": 6.635467052459717,
148
+ "relative_velocity_z": -0.30113232135772705,
149
+ "total_pixels": 9768,
150
+ "truncated": 0.0,
151
+ "visible_pixels": 7283
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.48,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 62,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.07119980454444885,
190
+ 0.02323877066373825,
191
+ -0.997191309928894,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.9967472553253174,
196
+ 0.039499539881944656,
197
+ -0.0702475905418396,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.03775613009929657,
202
+ 0.9989492893218994,
203
+ 0.025975538417696953,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4762.5732421875,
208
+ 119.42279052734375,
209
+ 514.949462890625,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00063.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3522118926048279,
26
+ "bounding_box_2D_extent_y": 0.4907912611961365,
27
+ "bounding_box_2D_origin_x": 0.21388709545135498,
28
+ "bounding_box_2D_origin_y": 0.5092087388038635,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.5970458984375,
33
+ "bounding_box_3D_origin_y": 0.67626953125,
34
+ "bounding_box_3D_origin_z": -0.7778778076171875,
35
+ "bounding_box_3D_pitch": -0.00035470721195451915,
36
+ "bounding_box_3D_pitch_deg": -0.02032322622835636,
37
+ "bounding_box_3D_roll": -0.005354051943868399,
38
+ "bounding_box_3D_roll_deg": -0.3067645728588104,
39
+ "bounding_box_3D_yaw": 1.8927468061447144,
40
+ "bounding_box_3D_yaw_deg": 108.44640350341797,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 4.559755325317383e-05,
46
+ "relative_velocity_x": -0.31626832485198975,
47
+ "relative_velocity_y": 0.9486750960350037,
48
+ "relative_velocity_z": 0.0003546271473169327,
49
+ "total_pixels": 131617,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 131611
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04277181625366211,
76
+ "bounding_box_2D_extent_y": 0.03865128755569458,
77
+ "bounding_box_2D_origin_x": 0.35030320286750793,
78
+ "bounding_box_2D_origin_y": 0.4523546099662781,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 77.31549072265625,
83
+ "bounding_box_3D_origin_y": 14.2607421875,
84
+ "bounding_box_3D_origin_z": 2.4113616943359375,
85
+ "bounding_box_3D_pitch": 0.06879670172929764,
86
+ "bounding_box_3D_pitch_deg": 3.941760778427124,
87
+ "bounding_box_3D_roll": 0.04899851977825165,
88
+ "bounding_box_3D_roll_deg": 2.807408332824707,
89
+ "bounding_box_3D_yaw": -2.5090813636779785,
90
+ "bounding_box_3D_yaw_deg": -143.75978088378906,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.9380479454994202,
96
+ "relative_velocity_x": -9.581171035766602,
97
+ "relative_velocity_y": -7.177887439727783,
98
+ "relative_velocity_z": -0.824115514755249,
99
+ "total_pixels": 1711,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 106
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.11922572553157806,
126
+ "bounding_box_2D_extent_y": 0.0828615128993988,
127
+ "bounding_box_2D_origin_x": 0.008769910782575607,
128
+ "bounding_box_2D_origin_y": 0.4993872344493866,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 26.80389404296875,
133
+ "bounding_box_3D_origin_y": 15.296875,
134
+ "bounding_box_3D_origin_z": -0.4865875244140625,
135
+ "bounding_box_3D_pitch": 0.02521437779068947,
136
+ "bounding_box_3D_pitch_deg": 1.444677472114563,
137
+ "bounding_box_3D_roll": 0.025390388444066048,
138
+ "bounding_box_3D_roll_deg": 1.4547621011734009,
139
+ "bounding_box_3D_yaw": 2.5357747077941895,
140
+ "bounding_box_3D_yaw_deg": 145.2891845703125,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.2513042688369751,
146
+ "relative_velocity_x": -9.941442489624023,
147
+ "relative_velocity_y": 6.714033126831055,
148
+ "relative_velocity_z": -0.2992990016937256,
149
+ "total_pixels": 10159,
150
+ "truncated": 0.0,
151
+ "visible_pixels": 7606
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.52,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 63,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.06864599138498306,
190
+ 0.023189302533864975,
191
+ -0.9973715543746948,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.9969387650489807,
196
+ 0.03910209611058235,
197
+ -0.06770706176757813,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.037429239600896835,
202
+ 0.9989661574363708,
203
+ 0.02580251358449459,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4761.220703125,
208
+ 117.5899658203125,
209
+ 527.0679321289063,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00064.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3511001467704773,
26
+ "bounding_box_2D_extent_y": 0.4912145137786865,
27
+ "bounding_box_2D_origin_x": 0.2182755321264267,
28
+ "bounding_box_2D_origin_y": 0.5087854862213135,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.60504150390625,
33
+ "bounding_box_3D_origin_y": 0.6552734375,
34
+ "bounding_box_3D_origin_z": -0.776458740234375,
35
+ "bounding_box_3D_pitch": -0.0005073901265859604,
36
+ "bounding_box_3D_pitch_deg": -0.02907131239771843,
37
+ "bounding_box_3D_roll": -0.0056410436518490314,
38
+ "bounding_box_3D_roll_deg": -0.3232080042362213,
39
+ "bounding_box_3D_yaw": 1.895889401435852,
40
+ "bounding_box_3D_yaw_deg": 108.62646484375,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 6.860494613647461e-05,
46
+ "relative_velocity_x": -0.31925168633461,
47
+ "relative_velocity_y": 0.9476752877235413,
48
+ "relative_velocity_z": 0.0005073286592960358,
49
+ "total_pixels": 131162,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 131153
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04267963767051697,
76
+ "bounding_box_2D_extent_y": 0.03885272145271301,
77
+ "bounding_box_2D_origin_x": 0.35117098689079285,
78
+ "bounding_box_2D_origin_y": 0.4522484540939331,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 76.90606689453125,
83
+ "bounding_box_3D_origin_y": 14.10498046875,
84
+ "bounding_box_3D_origin_z": 2.3992919921875,
85
+ "bounding_box_3D_pitch": 0.06883013993501663,
86
+ "bounding_box_3D_pitch_deg": 3.943676471710205,
87
+ "bounding_box_3D_roll": 0.048753466457128525,
88
+ "bounding_box_3D_roll_deg": 2.793367862701416,
89
+ "bounding_box_3D_yaw": -2.5171761512756348,
90
+ "bounding_box_3D_yaw_deg": -144.22357177734375,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.9381563663482666,
96
+ "relative_velocity_x": -9.63826847076416,
97
+ "relative_velocity_y": -7.099923610687256,
98
+ "relative_velocity_z": -0.8336598873138428,
99
+ "total_pixels": 1714,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 106
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.11448382586240768,
126
+ "bounding_box_2D_extent_y": 0.08413296937942505,
127
+ "bounding_box_2D_origin_x": 0.0,
128
+ "bounding_box_2D_origin_y": 0.49938684701919556,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 26.40692138671875,
133
+ "bounding_box_3D_origin_y": 15.5771484375,
134
+ "bounding_box_3D_origin_z": -0.490386962890625,
135
+ "bounding_box_3D_pitch": 0.024492012336850166,
136
+ "bounding_box_3D_pitch_deg": 1.4032889604568481,
137
+ "bounding_box_3D_roll": 0.02477257139980793,
138
+ "bounding_box_3D_roll_deg": 1.4193638563156128,
139
+ "bounding_box_3D_yaw": 2.525155544281006,
140
+ "bounding_box_3D_yaw_deg": 144.68075561523438,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.24863654375076294,
146
+ "relative_velocity_x": -9.877339363098145,
147
+ "relative_velocity_y": 6.8082051277160645,
148
+ "relative_velocity_z": -0.2943393886089325,
149
+ "total_pixels": 10268,
150
+ "truncated": 1.0,
151
+ "visible_pixels": 7715
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.56,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 64,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.06629627197980881,
190
+ 0.02339751273393631,
191
+ -0.9975256323814392,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.9970867037773132,
196
+ 0.03934864327311516,
197
+ -0.06534415483474731,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.0377223901450634,
202
+ 0.9989516139030457,
203
+ 0.025938015431165695,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4759.86474609375,
208
+ 118.57649993896484,
209
+ 538.3120727539063,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00065.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.34966152906417847,
26
+ "bounding_box_2D_extent_y": 0.4915851354598999,
27
+ "bounding_box_2D_origin_x": 0.22313302755355835,
28
+ "bounding_box_2D_origin_y": 0.5084148645401001,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.6136474609375,
33
+ "bounding_box_3D_origin_y": 0.63232421875,
34
+ "bounding_box_3D_origin_z": -0.7752227783203125,
35
+ "bounding_box_3D_pitch": -0.0006663539679720998,
36
+ "bounding_box_3D_pitch_deg": -0.038179270923137665,
37
+ "bounding_box_3D_roll": -0.00591385830193758,
38
+ "bounding_box_3D_roll_deg": -0.3388391137123108,
39
+ "bounding_box_3D_yaw": 1.8988116979599,
40
+ "bounding_box_3D_yaw_deg": 108.79389953613281,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00014537572860717773,
46
+ "relative_velocity_x": -0.32201844453811646,
47
+ "relative_velocity_y": 0.9467384219169617,
48
+ "relative_velocity_z": 0.0006663501262664795,
49
+ "total_pixels": 130679,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 130660
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04259982705116272,
76
+ "bounding_box_2D_extent_y": 0.039066821336746216,
77
+ "bounding_box_2D_origin_x": 0.3522065281867981,
78
+ "bounding_box_2D_origin_y": 0.4521652162075043,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 76.49871826171875,
83
+ "bounding_box_3D_origin_y": 13.93408203125,
84
+ "bounding_box_3D_origin_z": 2.3857269287109375,
85
+ "bounding_box_3D_pitch": 0.06950104236602783,
86
+ "bounding_box_3D_pitch_deg": 3.982116460800171,
87
+ "bounding_box_3D_roll": 0.047594159841537476,
88
+ "bounding_box_3D_roll_deg": 2.7269444465637207,
89
+ "bounding_box_3D_yaw": -2.525268316268921,
90
+ "bounding_box_3D_yaw_deg": -144.68722534179688,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.928115963935852,
96
+ "relative_velocity_x": -9.697237968444824,
97
+ "relative_velocity_y": -7.019448280334473,
98
+ "relative_velocity_z": -0.8312729597091675,
99
+ "total_pixels": 1725,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 124
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.10077383369207382,
126
+ "bounding_box_2D_extent_y": 0.08535951375961304,
127
+ "bounding_box_2D_origin_x": 0.0,
128
+ "bounding_box_2D_origin_y": 0.49941539764404297,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 26.0169677734375,
133
+ "bounding_box_3D_origin_y": 15.85546875,
134
+ "bounding_box_3D_origin_z": -0.4947509765625,
135
+ "bounding_box_3D_pitch": 0.02394772134721279,
136
+ "bounding_box_3D_pitch_deg": 1.3721033334732056,
137
+ "bounding_box_3D_roll": 0.02616642601788044,
138
+ "bounding_box_3D_roll_deg": 1.4992257356643677,
139
+ "bounding_box_3D_yaw": 2.514167308807373,
140
+ "bounding_box_3D_yaw_deg": 144.05117797851563,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.23305487632751465,
146
+ "relative_velocity_x": -9.803131103515625,
147
+ "relative_velocity_y": 6.914646148681641,
148
+ "relative_velocity_z": -0.29391270875930786,
149
+ "total_pixels": 9457,
150
+ "truncated": 1.0,
151
+ "visible_pixels": 7253
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.6,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 65,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.0641694962978363,
190
+ 0.023588379845023155,
191
+ -0.9976601600646973,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.997214674949646,
196
+ 0.03959944471716881,
197
+ -0.0632045567035675,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.03801589831709862,
202
+ 0.9989371299743652,
203
+ 0.02606375515460968,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4758.60400390625,
208
+ 119.59774780273438,
209
+ 548.4866333007813,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00066.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3483937382698059,
26
+ "bounding_box_2D_extent_y": 0.49196791648864746,
27
+ "bounding_box_2D_origin_x": 0.22819282114505768,
28
+ "bounding_box_2D_origin_y": 0.5080320835113525,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.62225341796875,
33
+ "bounding_box_3D_origin_y": 0.60791015625,
34
+ "bounding_box_3D_origin_z": -0.7739410400390625,
35
+ "bounding_box_3D_pitch": -0.00076928740600124,
36
+ "bounding_box_3D_pitch_deg": -0.04407692328095436,
37
+ "bounding_box_3D_roll": -0.006189954001456499,
38
+ "bounding_box_3D_roll_deg": -0.35465824604034424,
39
+ "bounding_box_3D_yaw": 1.9015851020812988,
40
+ "bounding_box_3D_yaw_deg": 108.95280456542969,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 8.45789909362793e-05,
46
+ "relative_velocity_x": -0.32464349269866943,
47
+ "relative_velocity_y": 0.9458414912223816,
48
+ "relative_velocity_z": 0.0007693208754062653,
49
+ "total_pixels": 130097,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 130086
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04251483082771301,
76
+ "bounding_box_2D_extent_y": 0.039267271757125854,
77
+ "bounding_box_2D_origin_x": 0.3533518612384796,
78
+ "bounding_box_2D_origin_y": 0.4520846903324127,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 76.0919189453125,
83
+ "bounding_box_3D_origin_y": 13.75439453125,
84
+ "bounding_box_3D_origin_z": 2.37225341796875,
85
+ "bounding_box_3D_pitch": 0.06938701122999191,
86
+ "bounding_box_3D_pitch_deg": 3.9755828380584717,
87
+ "bounding_box_3D_roll": 0.04743991047143936,
88
+ "bounding_box_3D_roll_deg": 2.718106746673584,
89
+ "bounding_box_3D_yaw": -2.533350944519043,
90
+ "bounding_box_3D_yaw_deg": -145.1503143310547,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.9124423861503601,
96
+ "relative_velocity_x": -9.75532054901123,
97
+ "relative_velocity_y": -6.938904762268066,
98
+ "relative_velocity_z": -0.8279047012329102,
99
+ "total_pixels": 1736,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 152
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.086751788854599,
126
+ "bounding_box_2D_extent_y": 0.08636534214019775,
127
+ "bounding_box_2D_origin_x": 0.0,
128
+ "bounding_box_2D_origin_y": 0.49930107593536377,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 25.63128662109375,
133
+ "bounding_box_3D_origin_y": 16.13232421875,
134
+ "bounding_box_3D_origin_z": -0.49639892578125,
135
+ "bounding_box_3D_pitch": 0.023384958505630493,
136
+ "bounding_box_3D_pitch_deg": 1.3398594856262207,
137
+ "bounding_box_3D_roll": 0.025271305814385414,
138
+ "bounding_box_3D_roll_deg": 1.447939157485962,
139
+ "bounding_box_3D_yaw": 2.503026008605957,
140
+ "bounding_box_3D_yaw_deg": 143.41282653808594,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.21487700939178467,
146
+ "relative_velocity_x": -9.725678443908691,
147
+ "relative_velocity_y": 7.022846221923828,
148
+ "relative_velocity_z": -0.30149203538894653,
149
+ "total_pixels": 8335,
150
+ "truncated": 1.0,
151
+ "visible_pixels": 6544
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.64,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 66,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.062187790870666504,
190
+ 0.02379690855741501,
191
+ -0.9977807402610779,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.9973304867744446,
196
+ 0.03981567919254303,
197
+ -0.06121012568473816,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.038270704448223114,
202
+ 0.998923659324646,
203
+ 0.026209428906440735,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4757.40673828125,
208
+ 120.44095611572266,
209
+ 557.9635009765625,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00067.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.34696102142333984,
26
+ "bounding_box_2D_extent_y": 0.4923167824745178,
27
+ "bounding_box_2D_origin_x": 0.23324596881866455,
28
+ "bounding_box_2D_origin_y": 0.5076832175254822,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.631103515625,
33
+ "bounding_box_3D_origin_y": 0.583984375,
34
+ "bounding_box_3D_origin_z": -0.7727203369140625,
35
+ "bounding_box_3D_pitch": -0.0009060502634383738,
36
+ "bounding_box_3D_pitch_deg": -0.051912855356931686,
37
+ "bounding_box_3D_roll": -0.006439161021262407,
38
+ "bounding_box_3D_roll_deg": -0.3689367473125458,
39
+ "bounding_box_3D_yaw": 1.904168963432312,
40
+ "bounding_box_3D_yaw_deg": 109.10084533691406,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 7.718801498413086e-05,
46
+ "relative_velocity_x": -0.32709142565727234,
47
+ "relative_velocity_y": 0.9449977874755859,
48
+ "relative_velocity_z": 0.000906091183423996,
49
+ "total_pixels": 129540,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 129530
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04244241118431091,
76
+ "bounding_box_2D_extent_y": 0.039490193128585815,
77
+ "bounding_box_2D_origin_x": 0.354602575302124,
78
+ "bounding_box_2D_origin_y": 0.45203733444213867,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 75.68609619140625,
83
+ "bounding_box_3D_origin_y": 13.564453125,
84
+ "bounding_box_3D_origin_z": 2.356658935546875,
85
+ "bounding_box_3D_pitch": 0.06993849575519562,
86
+ "bounding_box_3D_pitch_deg": 4.007180690765381,
87
+ "bounding_box_3D_roll": 0.0466279573738575,
88
+ "bounding_box_3D_roll_deg": 2.6715850830078125,
89
+ "bounding_box_3D_yaw": -2.5412397384643555,
90
+ "bounding_box_3D_yaw_deg": -145.60231018066406,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.9026346206665039,
96
+ "relative_velocity_x": -9.81246566772461,
97
+ "relative_velocity_y": -6.858251571655273,
98
+ "relative_velocity_z": -0.8246402740478516,
99
+ "total_pixels": 1746,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 170
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.07235085219144821,
126
+ "bounding_box_2D_extent_y": 0.08583280444145203,
127
+ "bounding_box_2D_origin_x": 0.0,
128
+ "bounding_box_2D_origin_y": 0.49923256039619446,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 25.25115966796875,
133
+ "bounding_box_3D_origin_y": 16.4091796875,
134
+ "bounding_box_3D_origin_z": -0.4989013671875,
135
+ "bounding_box_3D_pitch": 0.02291744574904442,
136
+ "bounding_box_3D_pitch_deg": 1.313072919845581,
137
+ "bounding_box_3D_roll": 0.024496573954820633,
138
+ "bounding_box_3D_roll_deg": 1.4035502672195435,
139
+ "bounding_box_3D_yaw": 2.492156744003296,
140
+ "bounding_box_3D_yaw_deg": 142.79006958007813,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.21604585647583008,
146
+ "relative_velocity_x": -9.645780563354492,
147
+ "relative_velocity_y": 7.132485866546631,
148
+ "relative_velocity_z": -0.2944068908691406,
149
+ "total_pixels": 6980,
150
+ "truncated": 1.0,
151
+ "visible_pixels": 5472
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.68,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 67,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.060371946543455124,
190
+ 0.023986319079995155,
191
+ -0.9978877305984497,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.9974333047866821,
196
+ 0.04000719264149666,
197
+ -0.05938279628753662,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.03849831223487854,
202
+ 0.9989114999771118,
203
+ 0.0263400636613369,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4756.2890625,
208
+ 121.18374633789063,
209
+ 566.641357421875,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00068.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3456205129623413,
26
+ "bounding_box_2D_extent_y": 0.4928250312805176,
27
+ "bounding_box_2D_origin_x": 0.23842035233974457,
28
+ "bounding_box_2D_origin_y": 0.5071749687194824,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.6402587890625,
33
+ "bounding_box_3D_origin_y": 0.55859375,
34
+ "bounding_box_3D_origin_z": -0.7709808349609375,
35
+ "bounding_box_3D_pitch": -0.0004576537467073649,
36
+ "bounding_box_3D_pitch_deg": -0.026221629232168198,
37
+ "bounding_box_3D_roll": -0.006663402076810598,
38
+ "bounding_box_3D_roll_deg": -0.3817848265171051,
39
+ "bounding_box_3D_yaw": 1.9065948724746704,
40
+ "bounding_box_3D_yaw_deg": 109.23983764648438,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00010854005813598633,
46
+ "relative_velocity_x": -0.32938653230667114,
47
+ "relative_velocity_y": 0.9442005157470703,
48
+ "relative_velocity_z": 0.0004577022045850754,
49
+ "total_pixels": 128955,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 128941
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.042355120182037354,
76
+ "bounding_box_2D_extent_y": 0.039699703454971313,
77
+ "bounding_box_2D_origin_x": 0.3559369146823883,
78
+ "bounding_box_2D_origin_y": 0.4519006609916687,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 75.27978515625,
83
+ "bounding_box_3D_origin_y": 13.36865234375,
84
+ "bounding_box_3D_origin_z": 2.3462066650390625,
85
+ "bounding_box_3D_pitch": 0.06962455064058304,
86
+ "bounding_box_3D_pitch_deg": 3.9891929626464844,
87
+ "bounding_box_3D_roll": 0.04728902503848076,
88
+ "bounding_box_3D_roll_deg": 2.7094616889953613,
89
+ "bounding_box_3D_yaw": -2.549682378768921,
90
+ "bounding_box_3D_yaw_deg": -146.08604431152344,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.8962371945381165,
96
+ "relative_velocity_x": -9.867707252502441,
97
+ "relative_velocity_y": -6.779321670532227,
98
+ "relative_velocity_z": -0.8181085586547852,
99
+ "total_pixels": 1754,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 182
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.057649172842502594,
126
+ "bounding_box_2D_extent_y": 0.085350900888443,
127
+ "bounding_box_2D_origin_x": 0.0,
128
+ "bounding_box_2D_origin_y": 0.4994371235370636,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 24.87567138671875,
133
+ "bounding_box_3D_origin_y": 16.68505859375,
134
+ "bounding_box_3D_origin_z": -0.506622314453125,
135
+ "bounding_box_3D_pitch": 0.022836262360215187,
136
+ "bounding_box_3D_pitch_deg": 1.3084214925765991,
137
+ "bounding_box_3D_roll": 0.024427704513072968,
138
+ "bounding_box_3D_roll_deg": 1.3996044397354126,
139
+ "bounding_box_3D_yaw": 2.481823205947876,
140
+ "bounding_box_3D_yaw_deg": 142.197998046875,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.23644959926605225,
146
+ "relative_velocity_x": -9.5667724609375,
147
+ "relative_velocity_y": 7.237890720367432,
148
+ "relative_velocity_z": -0.2998667359352112,
149
+ "total_pixels": 5498,
150
+ "truncated": 1.0,
151
+ "visible_pixels": 4198
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.72,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 68,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.058679766952991486,
190
+ 0.024357588961720467,
191
+ -0.9979797005653381,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.9975453019142151,
196
+ 0.039696987718343735,
197
+ -0.05768534541130066,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.03821170702576637,
202
+ 0.998914897441864,
203
+ 0.026627207174897194,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4755.29541015625,
208
+ 119.40573120117188,
209
+ 574.6864013671875,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00069.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.34410232305526733,
26
+ "bounding_box_2D_extent_y": 0.49305546283721924,
27
+ "bounding_box_2D_origin_x": 0.24375508725643158,
28
+ "bounding_box_2D_origin_y": 0.5069445371627808,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.6495361328125,
33
+ "bounding_box_3D_origin_y": 0.53271484375,
34
+ "bounding_box_3D_origin_z": -0.7701873779296875,
35
+ "bounding_box_3D_pitch": -0.0005148426280356944,
36
+ "bounding_box_3D_pitch_deg": -0.029498310759663582,
37
+ "bounding_box_3D_roll": -0.006830541417002678,
38
+ "bounding_box_3D_roll_deg": -0.39136120676994324,
39
+ "bounding_box_3D_yaw": 1.9088770151138306,
40
+ "bounding_box_3D_yaw_deg": 109.37059783935547,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00011688470840454102,
46
+ "relative_velocity_x": -0.331542044878006,
47
+ "relative_velocity_y": 0.94344562292099,
48
+ "relative_velocity_z": 0.0005149021744728088,
49
+ "total_pixels": 128359,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 128344
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.0422515869140625,
76
+ "bounding_box_2D_extent_y": 0.039910703897476196,
77
+ "bounding_box_2D_origin_x": 0.3573867678642273,
78
+ "bounding_box_2D_origin_y": 0.4519622027873993,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 74.8739013671875,
83
+ "bounding_box_3D_origin_y": 13.16455078125,
84
+ "bounding_box_3D_origin_z": 2.3248138427734375,
85
+ "bounding_box_3D_pitch": 0.06983958184719086,
86
+ "bounding_box_3D_pitch_deg": 4.001513481140137,
87
+ "bounding_box_3D_roll": 0.04628458991646767,
88
+ "bounding_box_3D_roll_deg": 2.651911735534668,
89
+ "bounding_box_3D_yaw": -2.558677911758423,
90
+ "bounding_box_3D_yaw_deg": -146.6014404296875,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.8835227489471436,
96
+ "relative_velocity_x": -9.925889015197754,
97
+ "relative_velocity_y": -6.694206714630127,
98
+ "relative_velocity_z": -0.8151212930679321,
99
+ "total_pixels": 1760,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 205
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.042595382779836655,
126
+ "bounding_box_2D_extent_y": 0.08456447720527649,
127
+ "bounding_box_2D_origin_x": 0.0,
128
+ "bounding_box_2D_origin_y": 0.4999535381793976,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 24.50518798828125,
133
+ "bounding_box_3D_origin_y": 16.9609375,
134
+ "bounding_box_3D_origin_z": -0.51318359375,
135
+ "bounding_box_3D_pitch": 0.022426852956414223,
136
+ "bounding_box_3D_pitch_deg": 1.2849640846252441,
137
+ "bounding_box_3D_roll": 0.023457318544387817,
138
+ "bounding_box_3D_roll_deg": 1.3440053462982178,
139
+ "bounding_box_3D_yaw": 2.4712257385253906,
140
+ "bounding_box_3D_yaw_deg": 141.59080505371094,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.2740495204925537,
146
+ "relative_velocity_x": -9.490562438964844,
147
+ "relative_velocity_y": 7.337808132171631,
148
+ "relative_velocity_z": -0.29304468631744385,
149
+ "total_pixels": 3919,
150
+ "truncated": 1.0,
151
+ "visible_pixels": 2845
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.76,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 69,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.057132791727781296,
190
+ 0.02448926866054535,
191
+ -0.9980661869049072,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.9976293444633484,
196
+ 0.03981435298919678,
197
+ -0.05613085627555847,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.03836275637149811,
202
+ 0.9989070296287537,
203
+ 0.026705915108323097,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4754.31396484375,
208
+ 119.84770965576172,
209
+ 582.0621337890625,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00070.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3427060842514038,
26
+ "bounding_box_2D_extent_y": 0.49327534437179565,
27
+ "bounding_box_2D_origin_x": 0.2491062879562378,
28
+ "bounding_box_2D_origin_y": 0.5067246556282043,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.6590576171875,
33
+ "bounding_box_3D_origin_y": 0.50634765625,
34
+ "bounding_box_3D_origin_z": -0.7694244384765625,
35
+ "bounding_box_3D_pitch": -0.0005712676793336868,
36
+ "bounding_box_3D_pitch_deg": -0.032731227576732635,
37
+ "bounding_box_3D_roll": -0.006987584289163351,
38
+ "bounding_box_3D_roll_deg": -0.4003590941429138,
39
+ "bounding_box_3D_yaw": 1.9109762907028198,
40
+ "bounding_box_3D_yaw_deg": 109.49087524414063,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0001017451286315918,
46
+ "relative_velocity_x": -0.33352717757225037,
47
+ "relative_velocity_y": 0.9427456259727478,
48
+ "relative_velocity_z": 0.0005713105201721191,
49
+ "total_pixels": 127801,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 127788
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.042158663272857666,
76
+ "bounding_box_2D_extent_y": 0.040111005306243896,
77
+ "bounding_box_2D_origin_x": 0.35893499851226807,
78
+ "bounding_box_2D_origin_y": 0.45205217599868774,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 74.4693603515625,
83
+ "bounding_box_3D_origin_y": 12.951171875,
84
+ "bounding_box_3D_origin_z": 2.30218505859375,
85
+ "bounding_box_3D_pitch": 0.06975862383842468,
86
+ "bounding_box_3D_pitch_deg": 3.9968748092651367,
87
+ "bounding_box_3D_roll": 0.04532511532306671,
88
+ "bounding_box_3D_roll_deg": 2.596937894821167,
89
+ "bounding_box_3D_yaw": -2.56716251373291,
90
+ "bounding_box_3D_yaw_deg": -147.08758544921875,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.877828061580658,
96
+ "relative_velocity_x": -9.987321853637695,
97
+ "relative_velocity_y": -6.602907180786133,
98
+ "relative_velocity_z": -0.8094052076339722,
99
+ "total_pixels": 1768,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 216
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.02722741849720478,
126
+ "bounding_box_2D_extent_y": 0.08190685510635376,
127
+ "bounding_box_2D_origin_x": 0.0,
128
+ "bounding_box_2D_origin_y": 0.5024161338806152,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 24.1397705078125,
133
+ "bounding_box_3D_origin_y": 17.23388671875,
134
+ "bounding_box_3D_origin_z": -0.5202789306640625,
135
+ "bounding_box_3D_pitch": 0.021606920287013054,
136
+ "bounding_box_3D_pitch_deg": 1.237985372543335,
137
+ "bounding_box_3D_roll": 0.023280885070562363,
138
+ "bounding_box_3D_roll_deg": 1.333896517753601,
139
+ "bounding_box_3D_yaw": 2.461460590362549,
140
+ "bounding_box_3D_yaw_deg": 141.03131103515625,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.3129314184188843,
146
+ "relative_velocity_x": -9.411168098449707,
147
+ "relative_velocity_y": 7.43989896774292,
148
+ "relative_velocity_z": -0.27918583154678345,
149
+ "total_pixels": 2173,
150
+ "truncated": 1.0,
151
+ "visible_pixels": 1493
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.8,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 70,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.05574137344956398,
190
+ 0.024610815569758415,
191
+ -0.9981419444084167,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.9977023601531982,
196
+ 0.03992964327335358,
197
+ -0.0547323003411293,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.03850844129920006,
202
+ 0.9988994598388672,
203
+ 0.02678000181913376,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4753.412109375,
208
+ 120.28849792480469,
209
+ 588.6934204101563,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00071.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.34128904342651367,
26
+ "bounding_box_2D_extent_y": 0.4926648736000061,
27
+ "bounding_box_2D_origin_x": 0.2546877861022949,
28
+ "bounding_box_2D_origin_y": 0.5073351263999939,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.6690673828125,
33
+ "bounding_box_3D_origin_y": 0.47900390625,
34
+ "bounding_box_3D_origin_z": -0.77142333984375,
35
+ "bounding_box_3D_pitch": -0.0006383770378306508,
36
+ "bounding_box_3D_pitch_deg": -0.03657631203532219,
37
+ "bounding_box_3D_roll": -0.006605677772313356,
38
+ "bounding_box_3D_roll_deg": -0.37847745418548584,
39
+ "bounding_box_3D_yaw": 1.9129477739334106,
40
+ "bounding_box_3D_yaw_deg": 109.60383605957031,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 3.933906555175781e-05,
46
+ "relative_velocity_x": -0.3353880047798157,
47
+ "relative_velocity_y": 0.9420850872993469,
48
+ "relative_velocity_z": 0.0006383433938026428,
49
+ "total_pixels": 127182,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 127177
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04203164577484131,
76
+ "bounding_box_2D_extent_y": 0.04030981659889221,
77
+ "bounding_box_2D_origin_x": 0.3605630397796631,
78
+ "bounding_box_2D_origin_y": 0.45290717482566833,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 74.06536865234375,
83
+ "bounding_box_3D_origin_y": 12.7333984375,
84
+ "bounding_box_3D_origin_z": 2.23907470703125,
85
+ "bounding_box_3D_pitch": 0.06866853684186935,
86
+ "bounding_box_3D_pitch_deg": 3.934417486190796,
87
+ "bounding_box_3D_roll": 0.045270588248968124,
88
+ "bounding_box_3D_roll_deg": 2.59381365776062,
89
+ "bounding_box_3D_yaw": -2.5766258239746094,
90
+ "bounding_box_3D_yaw_deg": -147.62979125976563,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.8661016821861267,
96
+ "relative_velocity_x": -10.044636726379395,
97
+ "relative_velocity_y": -6.516952991485596,
98
+ "relative_velocity_z": -0.7966794967651367,
99
+ "total_pixels": 1770,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 237
102
+ },
103
+ {
104
+ "actor_attributes": {
105
+ "bounds": {
106
+ "max": [
107
+ 3.032508773803711,
108
+ 0.9328704071044922,
109
+ 1.224620132446289
110
+ ],
111
+ "min": [
112
+ -0.5406101226806641,
113
+ -0.9328704071044922,
114
+ -0.318932991027832
115
+ ]
116
+ },
117
+ "triangle_count": 98320.0
118
+ },
119
+ "attributes": {
120
+ "aiMotive.annotation": {
121
+ "semantic_label": "DontCare"
122
+ },
123
+ "asset_name": "asset://Vehicles/Fiat500/Fiat500_Hull.gltf"
124
+ },
125
+ "bounding_box_2D_extent_x": 0.01143396832048893,
126
+ "bounding_box_2D_extent_y": 0.058521270751953125,
127
+ "bounding_box_2D_origin_x": 0.0,
128
+ "bounding_box_2D_origin_y": 0.5259066820144653,
129
+ "bounding_box_3D_extent_x": 3.5546178817749023,
130
+ "bounding_box_3D_extent_y": 1.8593058586120605,
131
+ "bounding_box_3D_extent_z": 1.522562861442566,
132
+ "bounding_box_3D_origin_x": 23.7791748046875,
133
+ "bounding_box_3D_origin_y": 17.50830078125,
134
+ "bounding_box_3D_origin_z": -0.541839599609375,
135
+ "bounding_box_3D_pitch": 0.0216132253408432,
136
+ "bounding_box_3D_pitch_deg": 1.2383465766906738,
137
+ "bounding_box_3D_roll": 0.023559024557471275,
138
+ "bounding_box_3D_roll_deg": 1.3498326539993286,
139
+ "bounding_box_3D_yaw": 2.451678991317749,
140
+ "bounding_box_3D_yaw_deg": 140.47085571289063,
141
+ "object_class": "Car",
142
+ "object_id": 3905,
143
+ "object_name": "exo (8)",
144
+ "object_owner_id": 3905,
145
+ "occluded": 0.3644067645072937,
146
+ "relative_velocity_x": -9.337533950805664,
147
+ "relative_velocity_y": 7.5326104164123535,
148
+ "relative_velocity_z": -0.2651787996292114,
149
+ "total_pixels": 590,
150
+ "truncated": 1.0,
151
+ "visible_pixels": 375
152
+ }
153
+ ],
154
+ "captured_obstacles": [],
155
+ "captured_traffic_lights": [],
156
+ "captured_traffic_signs": [],
157
+ "creation_timestamp": 2.84,
158
+ "sensor_matrix": [
159
+ [
160
+ -0.3420201241970062,
161
+ -0.9396926164627075,
162
+ 0.0,
163
+ 0.0
164
+ ],
165
+ [
166
+ 0.9396926164627075,
167
+ -0.3420201241970062,
168
+ 0.0,
169
+ 0.0
170
+ ],
171
+ [
172
+ 0.0,
173
+ 0.0,
174
+ 1.0,
175
+ 0.0
176
+ ],
177
+ [
178
+ 1.059000015258789,
179
+ -0.46700000762939453,
180
+ 1.5499999523162842,
181
+ 1.0
182
+ ]
183
+ ],
184
+ "sensor_name": "CAM_BACK_RIGHT",
185
+ "sequence_number": 71,
186
+ "vehicle_name": "ego",
187
+ "view_matrix": [
188
+ [
189
+ 0.05445656180381775,
190
+ 0.02423933334648609,
191
+ -0.9982218742370605,
192
+ 0.0
193
+ ],
194
+ [
195
+ -0.9977751970291138,
196
+ 0.039827700704336166,
197
+ -0.053465068340301514,
198
+ 0.0
199
+ ],
200
+ [
201
+ 0.038460925221443176,
202
+ 0.998912513256073,
203
+ 0.02635428123176098,
204
+ 0.0
205
+ ],
206
+ [
207
+ -4752.5908203125,
208
+ 120.12263488769531,
209
+ 594.7317504882813,
210
+ 1.0
211
+ ]
212
+ ]
213
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00072.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.33982619643211365,
26
+ "bounding_box_2D_extent_y": 0.49281996488571167,
27
+ "bounding_box_2D_origin_x": 0.26006367802619934,
28
+ "bounding_box_2D_origin_y": 0.5071800351142883,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.6790771484375,
33
+ "bounding_box_3D_origin_y": 0.45166015625,
34
+ "bounding_box_3D_origin_z": -0.77081298828125,
35
+ "bounding_box_3D_pitch": -0.0006775856018066406,
36
+ "bounding_box_3D_pitch_deg": -0.03882279619574547,
37
+ "bounding_box_3D_roll": -0.006717390846461058,
38
+ "bounding_box_3D_roll_deg": -0.38487815856933594,
39
+ "bounding_box_3D_yaw": 1.9147953987121582,
40
+ "bounding_box_3D_yaw_deg": 109.7096939086914,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 9.47713851928711e-05,
46
+ "relative_velocity_x": -0.3371307849884033,
47
+ "relative_velocity_y": 0.9414629936218262,
48
+ "relative_velocity_z": 0.0006775539368391037,
49
+ "total_pixels": 126621,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 126609
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04193344712257385,
76
+ "bounding_box_2D_extent_y": 0.04054534435272217,
77
+ "bounding_box_2D_origin_x": 0.3622370958328247,
78
+ "bounding_box_2D_origin_y": 0.4530426263809204,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 73.65936279296875,
83
+ "bounding_box_3D_origin_y": 12.51171875,
84
+ "bounding_box_3D_origin_z": 2.214080810546875,
85
+ "bounding_box_3D_pitch": 0.06866810470819473,
86
+ "bounding_box_3D_pitch_deg": 3.9343926906585693,
87
+ "bounding_box_3D_roll": 0.04545750468969345,
88
+ "bounding_box_3D_roll_deg": 2.604523181915283,
89
+ "bounding_box_3D_yaw": -2.5857837200164795,
90
+ "bounding_box_3D_yaw_deg": -148.1544952392578,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.8597972989082336,
96
+ "relative_velocity_x": -10.106783866882324,
97
+ "relative_velocity_y": -6.420876502990723,
98
+ "relative_velocity_z": -0.7907973527908325,
99
+ "total_pixels": 1776,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 249
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.88,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 72,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.0532844141125679,
140
+ 0.024323461577296257,
141
+ -0.9982832074165344,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9978340864181519,
146
+ 0.039914775639772415,
147
+ -0.05228791385889053,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03857441991567612,
152
+ 0.9989071488380432,
153
+ 0.026397613808512688,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4751.80810546875,
158
+ 120.46205139160156,
159
+ 600.3077392578125,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00073.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3383699059486389,
26
+ "bounding_box_2D_extent_y": 0.4929651618003845,
27
+ "bounding_box_2D_origin_x": 0.26589906215667725,
28
+ "bounding_box_2D_origin_y": 0.5070348381996155,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.68896484375,
33
+ "bounding_box_3D_origin_y": 0.42333984375,
34
+ "bounding_box_3D_origin_z": -0.77032470703125,
35
+ "bounding_box_3D_pitch": -0.0007060300558805466,
36
+ "bounding_box_3D_pitch_deg": -0.04045254364609718,
37
+ "bounding_box_3D_roll": -0.006827606353908777,
38
+ "bounding_box_3D_roll_deg": -0.3911930322647095,
39
+ "bounding_box_3D_yaw": 1.9165230989456177,
40
+ "bounding_box_3D_yaw_deg": 109.80868530273438,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00012683868408203125,
46
+ "relative_velocity_x": -0.33875757455825806,
47
+ "relative_velocity_y": 0.9408788084983826,
48
+ "relative_velocity_z": 0.000706009566783905,
49
+ "total_pixels": 126122,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 126106
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.041807979345321655,
76
+ "bounding_box_2D_extent_y": 0.04076942801475525,
77
+ "bounding_box_2D_origin_x": 0.36400893330574036,
78
+ "bounding_box_2D_origin_y": 0.4531736671924591,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 73.25274658203125,
83
+ "bounding_box_3D_origin_y": 12.2841796875,
84
+ "bounding_box_3D_origin_z": 2.1894073486328125,
85
+ "bounding_box_3D_pitch": 0.06842464208602905,
86
+ "bounding_box_3D_pitch_deg": 3.920443296432495,
87
+ "bounding_box_3D_roll": 0.04549484699964523,
88
+ "bounding_box_3D_roll_deg": 2.6066627502441406,
89
+ "bounding_box_3D_yaw": -2.595219612121582,
90
+ "bounding_box_3D_yaw_deg": -148.69512939453125,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.8538504838943481,
96
+ "relative_velocity_x": -10.165712356567383,
97
+ "relative_velocity_y": -6.326928615570068,
98
+ "relative_velocity_z": -0.7926900386810303,
99
+ "total_pixels": 1779,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 260
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.92,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 73,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.05222613364458084,
140
+ 0.02440972626209259,
141
+ -0.998336911201477,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9978861212730408,
146
+ 0.039992768317461014,
147
+ -0.051224708557128906,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03867587447166443,
152
+ 0.9989018440246582,
153
+ 0.026446791365742683,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4751.087890625,
158
+ 120.75680541992188,
159
+ 605.3395385742188,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00074.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3369745910167694,
26
+ "bounding_box_2D_extent_y": 0.4930640459060669,
27
+ "bounding_box_2D_origin_x": 0.27153339982032776,
28
+ "bounding_box_2D_origin_y": 0.5069359540939331,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.69921875,
33
+ "bounding_box_3D_origin_y": 0.39453125,
34
+ "bounding_box_3D_origin_z": -0.769927978515625,
35
+ "bounding_box_3D_pitch": -0.0007508434355258942,
36
+ "bounding_box_3D_pitch_deg": -0.043020159006118774,
37
+ "bounding_box_3D_roll": -0.006910786498337984,
38
+ "bounding_box_3D_roll_deg": -0.39595890045166016,
39
+ "bounding_box_3D_yaw": 1.9181584119796753,
40
+ "bounding_box_3D_yaw_deg": 109.90238189697266,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00015944242477416992,
46
+ "relative_velocity_x": -0.3402969539165497,
47
+ "relative_velocity_y": 0.9403232336044312,
48
+ "relative_velocity_z": 0.0007508248090744019,
49
+ "total_pixels": 125458,
50
+ "truncated": 1.0,
51
+ "visible_pixels": 125438
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04169100522994995,
76
+ "bounding_box_2D_extent_y": 0.040962010622024536,
77
+ "bounding_box_2D_origin_x": 0.36581894755363464,
78
+ "bounding_box_2D_origin_y": 0.4533523619174957,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 72.8460693359375,
83
+ "bounding_box_3D_origin_y": 12.05322265625,
84
+ "bounding_box_3D_origin_z": 2.162841796875,
85
+ "bounding_box_3D_pitch": 0.06796281784772873,
86
+ "bounding_box_3D_pitch_deg": 3.8939826488494873,
87
+ "bounding_box_3D_roll": 0.044489454478025436,
88
+ "bounding_box_3D_roll_deg": 2.549057960510254,
89
+ "bounding_box_3D_yaw": -2.6045496463775635,
90
+ "bounding_box_3D_yaw_deg": -149.22970581054688,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.8374164700508118,
96
+ "relative_velocity_x": -10.225482940673828,
97
+ "relative_velocity_y": -6.229983329772949,
98
+ "relative_velocity_z": -0.7917938828468323,
99
+ "total_pixels": 1796,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 292
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 2.96,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 74,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.0512547567486763,
140
+ 0.024469511583447456,
141
+ -0.9983857870101929,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9979327917098999,
146
+ 0.040063828229904175,
147
+ -0.050249576568603516,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03876957297325134,
152
+ 0.9988974332809448,
153
+ 0.026472391560673714,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4750.41650390625,
158
+ 121.04129028320313,
159
+ 609.952880859375,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00075.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.33545994758605957,
26
+ "bounding_box_2D_extent_y": 0.4925425052642822,
27
+ "bounding_box_2D_origin_x": 0.27724260091781616,
28
+ "bounding_box_2D_origin_y": 0.5068192481994629,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.70947265625,
33
+ "bounding_box_3D_origin_y": 0.3662109375,
34
+ "bounding_box_3D_origin_z": -0.769500732421875,
35
+ "bounding_box_3D_pitch": -0.0007925647660158575,
36
+ "bounding_box_3D_pitch_deg": -0.04541061818599701,
37
+ "bounding_box_3D_roll": -0.00709014805033803,
38
+ "bounding_box_3D_roll_deg": -0.40623557567596436,
39
+ "bounding_box_3D_yaw": 1.9196826219558716,
40
+ "bounding_box_3D_yaw_deg": 109.98971557617188,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0002884864807128906,
46
+ "relative_velocity_x": -0.34173598885536194,
47
+ "relative_velocity_y": 0.9398011565208435,
48
+ "relative_velocity_z": 0.0007934495806694031,
49
+ "total_pixels": 124793,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 124757
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.041580140590667725,
76
+ "bounding_box_2D_extent_y": 0.04119417071342468,
77
+ "bounding_box_2D_origin_x": 0.3676747977733612,
78
+ "bounding_box_2D_origin_y": 0.4535117447376251,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 72.43829345703125,
83
+ "bounding_box_3D_origin_y": 11.8212890625,
84
+ "bounding_box_3D_origin_z": 2.1368408203125,
85
+ "bounding_box_3D_pitch": 0.06789697706699371,
86
+ "bounding_box_3D_pitch_deg": 3.8902103900909424,
87
+ "bounding_box_3D_roll": 0.044223252683877945,
88
+ "bounding_box_3D_roll_deg": 2.5338058471679688,
89
+ "bounding_box_3D_yaw": -2.6137661933898926,
90
+ "bounding_box_3D_yaw_deg": -149.7577667236328,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.8272424936294556,
96
+ "relative_velocity_x": -10.283732414245605,
97
+ "relative_velocity_y": -6.133734703063965,
98
+ "relative_velocity_z": -0.7888452410697937,
99
+ "total_pixels": 1806,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 312
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.0,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 75,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.050363872200250626,
140
+ 0.02453361451625824,
141
+ -0.998429536819458,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9979749321937561,
146
+ 0.04012647271156311,
147
+ -0.04935494065284729,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03885260224342346,
152
+ 0.9988933205604553,
153
+ 0.02650485560297966,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4749.7919921875,
158
+ 121.28244018554688,
159
+ 614.1819458007813,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00076.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.33398181200027466,
26
+ "bounding_box_2D_extent_y": 0.4914959669113159,
27
+ "bounding_box_2D_origin_x": 0.2830222249031067,
28
+ "bounding_box_2D_origin_y": 0.506726086139679,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.71978759765625,
33
+ "bounding_box_3D_origin_y": 0.3359375,
34
+ "bounding_box_3D_origin_z": -0.7691497802734375,
35
+ "bounding_box_3D_pitch": -0.0008312314748764038,
36
+ "bounding_box_3D_pitch_deg": -0.047626055777072906,
37
+ "bounding_box_3D_roll": -0.00716991676017642,
38
+ "bounding_box_3D_roll_deg": -0.41080597043037415,
39
+ "bounding_box_3D_yaw": 1.9211201667785645,
40
+ "bounding_box_3D_yaw_deg": 110.07208251953125,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004596114158630371,
46
+ "relative_velocity_x": -0.34309065341949463,
47
+ "relative_velocity_y": 0.939307451248169,
48
+ "relative_velocity_z": 0.0008320976048707962,
49
+ "total_pixels": 124021,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 123964
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04146692156791687,
76
+ "bounding_box_2D_extent_y": 0.04141891002655029,
77
+ "bounding_box_2D_origin_x": 0.3695638179779053,
78
+ "bounding_box_2D_origin_y": 0.4536813497543335,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 72.02960205078125,
83
+ "bounding_box_3D_origin_y": 11.5859375,
84
+ "bounding_box_3D_origin_z": 2.1104888916015625,
85
+ "bounding_box_3D_pitch": 0.06734120100736618,
86
+ "bounding_box_3D_pitch_deg": 3.8583667278289795,
87
+ "bounding_box_3D_roll": 0.04446427524089813,
88
+ "bounding_box_3D_roll_deg": 2.5476152896881104,
89
+ "bounding_box_3D_yaw": -2.623042345046997,
90
+ "bounding_box_3D_yaw_deg": -150.2892608642578,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.810706377029419,
96
+ "relative_velocity_x": -10.340592384338379,
97
+ "relative_velocity_y": -6.038003921508789,
98
+ "relative_velocity_z": -0.784091591835022,
99
+ "total_pixels": 1812,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 343
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.04,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 76,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.049537256360054016,
140
+ 0.024593675509095192,
141
+ -0.9984695315361023,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9980131983757019,
146
+ 0.04018786549568176,
147
+ -0.04852474480867386,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03893294930458069,
152
+ 0.9988895654678345,
153
+ 0.026535607874393463,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4749.203125,
158
+ 121.52105712890625,
159
+ 618.1039428710938,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00077.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.33266305923461914,
26
+ "bounding_box_2D_extent_y": 0.49053651094436646,
27
+ "bounding_box_2D_origin_x": 0.28870129585266113,
28
+ "bounding_box_2D_origin_y": 0.506425142288208,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.7301025390625,
33
+ "bounding_box_3D_origin_y": 0.3076171875,
34
+ "bounding_box_3D_origin_z": -0.76800537109375,
35
+ "bounding_box_3D_pitch": -0.00030558372964151204,
36
+ "bounding_box_3D_pitch_deg": -0.01750865764915943,
37
+ "bounding_box_3D_roll": -0.007224096450954676,
38
+ "bounding_box_3D_roll_deg": -0.41391023993492126,
39
+ "bounding_box_3D_yaw": 1.922497272491455,
40
+ "bounding_box_3D_yaw_deg": 110.1509780883789,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004864931106567383,
46
+ "relative_velocity_x": -0.34438443183898926,
47
+ "relative_velocity_y": 0.9388339519500732,
48
+ "relative_velocity_z": 0.0003064516931772232,
49
+ "total_pixels": 123328,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 123268
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04131975769996643,
76
+ "bounding_box_2D_extent_y": 0.04163196682929993,
77
+ "bounding_box_2D_origin_x": 0.37146055698394775,
78
+ "bounding_box_2D_origin_y": 0.45376497507095337,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 71.61895751953125,
83
+ "bounding_box_3D_origin_y": 11.3544921875,
84
+ "bounding_box_3D_origin_z": 2.0887603759765625,
85
+ "bounding_box_3D_pitch": 0.06706664711236954,
86
+ "bounding_box_3D_pitch_deg": 3.8426358699798584,
87
+ "bounding_box_3D_roll": 0.04369300231337547,
88
+ "bounding_box_3D_roll_deg": 2.503424644470215,
89
+ "bounding_box_3D_yaw": -2.6327919960021973,
90
+ "bounding_box_3D_yaw_deg": -150.84786987304688,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.7916207313537598,
96
+ "relative_velocity_x": -10.396484375,
97
+ "relative_velocity_y": -5.9419145584106445,
98
+ "relative_velocity_z": -0.779005765914917,
99
+ "total_pixels": 1814,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 378
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.08,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 77,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04875217005610466,
140
+ 0.024833206087350845,
141
+ -0.9985021352767944,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.99806809425354,
146
+ 0.039759885519742966,
147
+ -0.04774212837219238,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03851474076509476,
152
+ 0.9989007115364075,
153
+ 0.026723608374595642,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4748.70556640625,
158
+ 119.29955291748047,
159
+ 621.7880249023438,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00078.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.33124664425849915,
26
+ "bounding_box_2D_extent_y": 0.48947203159332275,
27
+ "bounding_box_2D_origin_x": 0.29454514384269714,
28
+ "bounding_box_2D_origin_y": 0.5063381791114807,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.7406005859375,
33
+ "bounding_box_3D_origin_y": 0.2783203125,
34
+ "bounding_box_3D_origin_z": -0.76763916015625,
35
+ "bounding_box_3D_pitch": -0.00033290497958660126,
36
+ "bounding_box_3D_pitch_deg": -0.019074050709605217,
37
+ "bounding_box_3D_roll": -0.007282351143658161,
38
+ "bounding_box_3D_roll_deg": -0.4172479808330536,
39
+ "bounding_box_3D_yaw": 1.923771858215332,
40
+ "bounding_box_3D_yaw_deg": 110.22400665283203,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004729032516479492,
46
+ "relative_velocity_x": -0.3455844223499298,
47
+ "relative_velocity_y": 0.9383931159973145,
48
+ "relative_velocity_z": 0.0003337506204843521,
49
+ "total_pixels": 122644,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 122586
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04116302728652954,
76
+ "bounding_box_2D_extent_y": 0.041863709688186646,
77
+ "bounding_box_2D_origin_x": 0.3734140396118164,
78
+ "bounding_box_2D_origin_y": 0.45397135615348816,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 71.20758056640625,
83
+ "bounding_box_3D_origin_y": 11.11962890625,
84
+ "bounding_box_3D_origin_z": 2.06060791015625,
85
+ "bounding_box_3D_pitch": 0.06648825854063034,
86
+ "bounding_box_3D_pitch_deg": 3.8094966411590576,
87
+ "bounding_box_3D_roll": 0.04392218589782715,
88
+ "bounding_box_3D_roll_deg": 2.5165560245513916,
89
+ "bounding_box_3D_yaw": -2.642977714538574,
90
+ "bounding_box_3D_yaw_deg": -151.4314727783203,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.770798921585083,
96
+ "relative_velocity_x": -10.454477310180664,
97
+ "relative_velocity_y": -5.839165210723877,
98
+ "relative_velocity_z": -0.7798389196395874,
99
+ "total_pixels": 1815,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 416
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.12,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 78,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04806533828377724,
140
+ 0.024877674877643585,
141
+ -0.9985343217849731,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9980990290641785,
146
+ 0.03980358690023422,
147
+ -0.04705271124839783,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.038574688136577606,
152
+ 0.9988977313041687,
153
+ 0.026743557304143906,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4748.2001953125,
158
+ 119.468017578125,
159
+ 625.039794921875,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00079.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.32993265986442566,
26
+ "bounding_box_2D_extent_y": 0.4883766770362854,
27
+ "bounding_box_2D_origin_x": 0.30062296986579895,
28
+ "bounding_box_2D_origin_y": 0.5063099265098572,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.7510986328125,
33
+ "bounding_box_3D_origin_y": 0.24658203125,
34
+ "bounding_box_3D_origin_z": -0.767486572265625,
35
+ "bounding_box_3D_pitch": -0.00037039630115032196,
36
+ "bounding_box_3D_pitch_deg": -0.02122214436531067,
37
+ "bounding_box_3D_roll": -0.007320682518184185,
38
+ "bounding_box_3D_roll_deg": -0.41944420337677,
39
+ "bounding_box_3D_yaw": 1.9249894618988037,
40
+ "bounding_box_3D_yaw_deg": 110.29376983642578,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004921555519104004,
46
+ "relative_velocity_x": -0.3467291593551636,
47
+ "relative_velocity_y": 0.9379706382751465,
48
+ "relative_velocity_z": 0.0003712233155965805,
49
+ "total_pixels": 121915,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 121855
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04102510213851929,
76
+ "bounding_box_2D_extent_y": 0.04209277033805847,
77
+ "bounding_box_2D_origin_x": 0.37539947032928467,
78
+ "bounding_box_2D_origin_y": 0.4542067348957062,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 70.7952880859375,
83
+ "bounding_box_3D_origin_y": 10.88232421875,
84
+ "bounding_box_3D_origin_z": 2.031097412109375,
85
+ "bounding_box_3D_pitch": 0.06617801636457443,
86
+ "bounding_box_3D_pitch_deg": 3.7917211055755615,
87
+ "bounding_box_3D_roll": 0.04333871975541115,
88
+ "bounding_box_3D_roll_deg": 2.483125686645508,
89
+ "bounding_box_3D_yaw": -2.652658462524414,
90
+ "bounding_box_3D_yaw_deg": -151.9861297607422,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.7524536848068237,
96
+ "relative_velocity_x": -10.513811111450195,
97
+ "relative_velocity_y": -5.732189178466797,
98
+ "relative_velocity_z": -0.7757967710494995,
99
+ "total_pixels": 1834,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 454
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.16,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 79,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.047421734780073166,
140
+ 0.0248970128595829,
141
+ -0.998564600944519,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9981272220611572,
146
+ 0.03985554724931717,
147
+ -0.04640725255012512,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03864293918013573,
152
+ 0.9988952279090881,
153
+ 0.026740403845906258,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4747.71826171875,
158
+ 119.69671630859375,
159
+ 628.083740234375,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00080.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.32855087518692017,
26
+ "bounding_box_2D_extent_y": 0.48729032278060913,
27
+ "bounding_box_2D_origin_x": 0.30658894777297974,
28
+ "bounding_box_2D_origin_y": 0.5062776803970337,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.76177978515625,
33
+ "bounding_box_3D_origin_y": 0.2158203125,
34
+ "bounding_box_3D_origin_z": -0.7673492431640625,
35
+ "bounding_box_3D_pitch": -0.00043618117342703044,
36
+ "bounding_box_3D_pitch_deg": -0.024991340935230255,
37
+ "bounding_box_3D_roll": -0.007358522620052099,
38
+ "bounding_box_3D_roll_deg": -0.42161229252815247,
39
+ "bounding_box_3D_yaw": 1.9261043071746826,
40
+ "bounding_box_3D_yaw_deg": 110.35765075683594,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00047850608825683594,
46
+ "relative_velocity_x": -0.34778138995170593,
47
+ "relative_velocity_y": 0.9375810623168945,
48
+ "relative_velocity_z": 0.0004369635134935379,
49
+ "total_pixels": 121210,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 121152
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04088318347930908,
76
+ "bounding_box_2D_extent_y": 0.04233875870704651,
77
+ "bounding_box_2D_origin_x": 0.3773992955684662,
78
+ "bounding_box_2D_origin_y": 0.4544421434402466,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 70.38189697265625,
83
+ "bounding_box_3D_origin_y": 10.646484375,
84
+ "bounding_box_3D_origin_z": 2.001495361328125,
85
+ "bounding_box_3D_pitch": 0.06563921272754669,
86
+ "bounding_box_3D_pitch_deg": 3.760849952697754,
87
+ "bounding_box_3D_roll": 0.043713465332984924,
88
+ "bounding_box_3D_roll_deg": 2.5045971870422363,
89
+ "bounding_box_3D_yaw": -2.6624343395233154,
90
+ "bounding_box_3D_yaw_deg": -152.54624938964844,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.7302452325820923,
96
+ "relative_velocity_x": -10.569828987121582,
97
+ "relative_velocity_y": -5.629431247711182,
98
+ "relative_velocity_z": -0.7670170664787292,
99
+ "total_pixels": 1835,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 495
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.2,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 80,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.046847905963659286,
140
+ 0.02491338737308979,
141
+ -0.9985913634300232,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9981516003608704,
146
+ 0.039913058280944824,
147
+ -0.045831501483917236,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03871501237154007,
152
+ 0.9988927245140076,
153
+ 0.02673717588186264,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4747.27880859375,
158
+ 119.95410919189453,
159
+ 630.7959594726563,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00081.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3273322284221649,
26
+ "bounding_box_2D_extent_y": 0.4862141013145447,
27
+ "bounding_box_2D_origin_x": 0.31228873133659363,
28
+ "bounding_box_2D_origin_y": 0.506267786026001,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.7724609375,
33
+ "bounding_box_3D_origin_y": 0.18505859375,
34
+ "bounding_box_3D_origin_z": -0.76727294921875,
35
+ "bounding_box_3D_pitch": -0.000466438039438799,
36
+ "bounding_box_3D_pitch_deg": -0.026724930852651596,
37
+ "bounding_box_3D_roll": -0.007381138391792774,
38
+ "bounding_box_3D_roll_deg": -0.42290809750556946,
39
+ "bounding_box_3D_yaw": 1.9271682500839233,
40
+ "bounding_box_3D_yaw_deg": 110.41860961914063,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00043135881423950195,
46
+ "relative_velocity_x": -0.3487788438796997,
47
+ "relative_velocity_y": 0.9372103810310364,
48
+ "relative_velocity_z": 0.00046721845865249634,
49
+ "total_pixels": 120545,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 120493
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.040700674057006836,
76
+ "bounding_box_2D_extent_y": 0.0426025390625,
77
+ "bounding_box_2D_origin_x": 0.37941399216651917,
78
+ "bounding_box_2D_origin_y": 0.45470768213272095,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 69.96636962890625,
83
+ "bounding_box_3D_origin_y": 10.41259765625,
84
+ "bounding_box_3D_origin_z": 1.97027587890625,
85
+ "bounding_box_3D_pitch": 0.06537353992462158,
86
+ "bounding_box_3D_pitch_deg": 3.7456278800964355,
87
+ "bounding_box_3D_roll": 0.04402720555663109,
88
+ "bounding_box_3D_roll_deg": 2.5225729942321777,
89
+ "bounding_box_3D_yaw": -2.6729512214660645,
90
+ "bounding_box_3D_yaw_deg": -153.14881896972656,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.6998377442359924,
96
+ "relative_velocity_x": -10.624735832214355,
97
+ "relative_velocity_y": -5.525603294372559,
98
+ "relative_velocity_z": -0.7634132504463196,
99
+ "total_pixels": 1849,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 555
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.24,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 81,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.0463188998401165,
140
+ 0.024914680048823357,
141
+ -0.9986159801483154,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9981735944747925,
146
+ 0.03996715694665909,
147
+ -0.045301228761672974,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03878317400813103,
152
+ 0.9988903999328613,
153
+ 0.026720408350229263,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4746.86572265625,
158
+ 120.20816802978516,
159
+ 633.29248046875,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00082.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.32585591077804565,
26
+ "bounding_box_2D_extent_y": 0.4851683974266052,
27
+ "bounding_box_2D_origin_x": 0.31830090284347534,
28
+ "bounding_box_2D_origin_y": 0.5070319175720215,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.78338623046875,
33
+ "bounding_box_3D_origin_y": 0.1552734375,
34
+ "bounding_box_3D_origin_z": -0.769805908203125,
35
+ "bounding_box_3D_pitch": -0.0005181227461434901,
36
+ "bounding_box_3D_pitch_deg": -0.029686246067285538,
37
+ "bounding_box_3D_roll": -0.006883890368044376,
38
+ "bounding_box_3D_roll_deg": -0.3944178819656372,
39
+ "bounding_box_3D_yaw": 1.928173303604126,
40
+ "bounding_box_3D_yaw_deg": 110.4761962890625,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004914402961730957,
46
+ "relative_velocity_x": -0.3497242033481598,
47
+ "relative_velocity_y": 0.9368578791618347,
48
+ "relative_velocity_z": 0.0005188267678022385,
49
+ "total_pixels": 120062,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 120003
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04052707552909851,
76
+ "bounding_box_2D_extent_y": 0.04284250736236572,
77
+ "bounding_box_2D_origin_x": 0.381439745426178,
78
+ "bounding_box_2D_origin_y": 0.45569226145744324,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 69.55157470703125,
83
+ "bounding_box_3D_origin_y": 10.18017578125,
84
+ "bounding_box_3D_origin_z": 1.903594970703125,
85
+ "bounding_box_3D_pitch": 0.06459732353687286,
86
+ "bounding_box_3D_pitch_deg": 3.7011539936065674,
87
+ "bounding_box_3D_roll": 0.04319081827998161,
88
+ "bounding_box_3D_roll_deg": 2.474651575088501,
89
+ "bounding_box_3D_yaw": -2.683130979537964,
90
+ "bounding_box_3D_yaw_deg": -153.73208618164063,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.6731496453285217,
96
+ "relative_velocity_x": -10.682785987854004,
97
+ "relative_velocity_y": -5.413410186767578,
98
+ "relative_velocity_z": -0.7570863962173462,
99
+ "total_pixels": 1851,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 605
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.28,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 82,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.0458269864320755,
140
+ 0.024436410516500473,
141
+ -0.9986504316329956,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9982006549835205,
146
+ 0.039821356534957886,
147
+ -0.044831931591033936,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03867208585143089,
152
+ 0.9989080429077148,
153
+ 0.026217328384518623,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4746.5,
158
+ 119.92597961425781,
159
+ 635.5321044921875,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00083.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.32470229268074036,
26
+ "bounding_box_2D_extent_y": 0.48406773805618286,
27
+ "bounding_box_2D_origin_x": 0.3241291344165802,
28
+ "bounding_box_2D_origin_y": 0.5070208311080933,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.79425048828125,
33
+ "bounding_box_3D_origin_y": 0.12548828125,
34
+ "bounding_box_3D_origin_z": -0.7697296142578125,
35
+ "bounding_box_3D_pitch": -0.0005626232596114278,
36
+ "bounding_box_3D_pitch_deg": -0.03223593905568123,
37
+ "bounding_box_3D_roll": -0.006906911265105009,
38
+ "bounding_box_3D_roll_deg": -0.3957368731498718,
39
+ "bounding_box_3D_yaw": 1.9290944337844849,
40
+ "bounding_box_3D_yaw_deg": 110.52896881103516,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004775524139404297,
46
+ "relative_velocity_x": -0.3505912721157074,
47
+ "relative_velocity_y": 0.9365337491035461,
48
+ "relative_velocity_z": 0.0005632974207401276,
49
+ "total_pixels": 119358,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 119301
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04032537341117859,
76
+ "bounding_box_2D_extent_y": 0.04307126998901367,
77
+ "bounding_box_2D_origin_x": 0.3834838569164276,
78
+ "bounding_box_2D_origin_y": 0.45595940947532654,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 69.13372802734375,
83
+ "bounding_box_3D_origin_y": 9.94921875,
84
+ "bounding_box_3D_origin_z": 1.8732452392578125,
85
+ "bounding_box_3D_pitch": 0.06382621079683304,
86
+ "bounding_box_3D_pitch_deg": 3.656972646713257,
87
+ "bounding_box_3D_roll": 0.0428609624505043,
88
+ "bounding_box_3D_roll_deg": 2.455752372741699,
89
+ "bounding_box_3D_yaw": -2.693821907043457,
90
+ "bounding_box_3D_yaw_deg": -154.34463500976563,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.646584153175354,
96
+ "relative_velocity_x": -10.737571716308594,
97
+ "relative_velocity_y": -5.303929805755615,
98
+ "relative_velocity_z": -0.756948709487915,
99
+ "total_pixels": 1859,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 657
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.32,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 83,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04540091007947922,
140
+ 0.024436816573143005,
141
+ -0.9986699223518372,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9982174634933472,
146
+ 0.039878346025943756,
147
+ -0.044404536485672,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03874019905924797,
152
+ 0.9989057779312134,
153
+ 0.026203766465187073,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4746.15087890625,
158
+ 120.19444274902344,
159
+ 637.5389404296875,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00084.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3232835829257965,
26
+ "bounding_box_2D_extent_y": 0.4829573631286621,
27
+ "bounding_box_2D_origin_x": 0.33019503951072693,
28
+ "bounding_box_2D_origin_y": 0.5069788694381714,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.80511474609375,
33
+ "bounding_box_3D_origin_y": 0.09228515625,
34
+ "bounding_box_3D_origin_z": -0.769561767578125,
35
+ "bounding_box_3D_pitch": -0.0005976185784675181,
36
+ "bounding_box_3D_pitch_deg": -0.034241024404764175,
37
+ "bounding_box_3D_roll": -0.006952741649001837,
38
+ "bounding_box_3D_roll_deg": -0.39836275577545166,
39
+ "bounding_box_3D_yaw": 1.9299498796463013,
40
+ "bounding_box_3D_yaw_deg": 110.57798767089844,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004215240478515625,
46
+ "relative_velocity_x": -0.3513953983783722,
47
+ "relative_velocity_y": 0.936232328414917,
48
+ "relative_velocity_z": 0.0005982797592878342,
49
+ "total_pixels": 118618,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 118568
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.04014730453491211,
76
+ "bounding_box_2D_extent_y": 0.043299973011016846,
77
+ "bounding_box_2D_origin_x": 0.38555747270584106,
78
+ "bounding_box_2D_origin_y": 0.4561964273452759,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 68.71484375,
83
+ "bounding_box_3D_origin_y": 9.71435546875,
84
+ "bounding_box_3D_origin_z": 1.8445892333984375,
85
+ "bounding_box_3D_pitch": 0.06357690691947937,
86
+ "bounding_box_3D_pitch_deg": 3.642688512802124,
87
+ "bounding_box_3D_roll": 0.041387394070625305,
88
+ "bounding_box_3D_roll_deg": 2.3713231086730957,
89
+ "bounding_box_3D_yaw": -2.7041118144989014,
90
+ "bounding_box_3D_yaw_deg": -154.93418884277344,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.6295698881149292,
96
+ "relative_velocity_x": -10.793495178222656,
97
+ "relative_velocity_y": -5.18882417678833,
98
+ "relative_velocity_z": -0.759383499622345,
99
+ "total_pixels": 1860,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 689
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.36,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 84,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04502321407198906,
140
+ 0.024464033544063568,
141
+ -0.9986864328384399,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9982321858406067,
146
+ 0.03993046656250954,
147
+ -0.04402459040284157,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03880099207162857,
152
+ 0.9989030957221985,
153
+ 0.026218581944704056,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4745.8310546875,
158
+ 120.41716003417969,
159
+ 639.318115234375,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00085.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3222099244594574,
26
+ "bounding_box_2D_extent_y": 0.48186546564102173,
27
+ "bounding_box_2D_origin_x": 0.3360607922077179,
28
+ "bounding_box_2D_origin_y": 0.506972074508667,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.81591796875,
33
+ "bounding_box_3D_origin_y": 0.06103515625,
34
+ "bounding_box_3D_origin_z": -0.76947021484375,
35
+ "bounding_box_3D_pitch": -0.0006168559193611145,
36
+ "bounding_box_3D_pitch_deg": -0.035343240946531296,
37
+ "bounding_box_3D_roll": -0.006976181175559759,
38
+ "bounding_box_3D_roll_deg": -0.3997057378292084,
39
+ "bounding_box_3D_yaw": 1.9307644367218018,
40
+ "bounding_box_3D_yaw_deg": 110.6246566772461,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00043255090713500977,
46
+ "relative_velocity_x": -0.3521588444709778,
47
+ "relative_velocity_y": 0.9359455704689026,
48
+ "relative_velocity_z": 0.0006175097078084946,
49
+ "total_pixels": 117913,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 117862
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.03993377089500427,
76
+ "bounding_box_2D_extent_y": 0.04354110360145569,
77
+ "bounding_box_2D_origin_x": 0.3876250982284546,
78
+ "bounding_box_2D_origin_y": 0.4564650356769562,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 68.2940673828125,
83
+ "bounding_box_3D_origin_y": 9.48486328125,
84
+ "bounding_box_3D_origin_z": 1.814300537109375,
85
+ "bounding_box_3D_pitch": 0.06309345364570618,
86
+ "bounding_box_3D_pitch_deg": 3.6149885654449463,
87
+ "bounding_box_3D_roll": 0.040648698806762695,
88
+ "bounding_box_3D_roll_deg": 2.3289988040924072,
89
+ "bounding_box_3D_yaw": -2.7147955894470215,
90
+ "bounding_box_3D_yaw_deg": -155.54632568359375,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.6016085743904114,
96
+ "relative_velocity_x": -10.846473693847656,
97
+ "relative_velocity_y": -5.077260971069336,
98
+ "relative_velocity_z": -0.7586475610733032,
99
+ "total_pixels": 1865,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 743
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.4,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 85,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.044680025428533554,
140
+ 0.024473048746585846,
141
+ -0.9987015724182129,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9982457756996155,
146
+ 0.03996821865439415,
147
+ -0.04368022084236145,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03884733095765114,
152
+ 0.9989012479782104,
153
+ 0.026215897873044014,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4745.53564453125,
158
+ 120.58757019042969,
159
+ 640.9293212890625,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00086.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.32080939412117004,
26
+ "bounding_box_2D_extent_y": 0.48076754808425903,
27
+ "bounding_box_2D_origin_x": 0.34206774830818176,
28
+ "bounding_box_2D_origin_y": 0.5069389939308167,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.82684326171875,
33
+ "bounding_box_3D_origin_y": 0.02978515625,
34
+ "bounding_box_3D_origin_z": -0.7693023681640625,
35
+ "bounding_box_3D_pitch": -0.00064704759279266,
36
+ "bounding_box_3D_pitch_deg": -0.03707309812307358,
37
+ "bounding_box_3D_roll": -0.007009656168520451,
38
+ "bounding_box_3D_roll_deg": -0.4016237258911133,
39
+ "bounding_box_3D_yaw": 1.931549310684204,
40
+ "bounding_box_3D_yaw_deg": 110.66962432861328,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00044345855712890625,
46
+ "relative_velocity_x": -0.3528960347175598,
47
+ "relative_velocity_y": 0.9356676936149597,
48
+ "relative_velocity_z": 0.0006476882845163345,
49
+ "total_pixels": 117264,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 117212
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.03970754146575928,
76
+ "bounding_box_2D_extent_y": 0.043824225664138794,
77
+ "bounding_box_2D_origin_x": 0.3896692395210266,
78
+ "bounding_box_2D_origin_y": 0.45670977234840393,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 67.87115478515625,
83
+ "bounding_box_3D_origin_y": 9.259765625,
84
+ "bounding_box_3D_origin_z": 1.784820556640625,
85
+ "bounding_box_3D_pitch": 0.06302460283041,
86
+ "bounding_box_3D_pitch_deg": 3.611043691635132,
87
+ "bounding_box_3D_roll": 0.0405099131166935,
88
+ "bounding_box_3D_roll_deg": 2.321047067642212,
89
+ "bounding_box_3D_yaw": -2.725757360458374,
90
+ "bounding_box_3D_yaw_deg": -156.1743927001953,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.5786666870117188,
96
+ "relative_velocity_x": -10.900338172912598,
97
+ "relative_velocity_y": -4.961110591888428,
98
+ "relative_velocity_z": -0.7550534009933472,
99
+ "total_pixels": 1875,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 790
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.44,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 86,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04435335472226143,
140
+ 0.024493761360645294,
141
+ -0.9987155795097351,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.998258650302887,
146
+ 0.04000403359532356,
147
+ -0.043351948261260986,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03889080137014389,
152
+ 0.9988992810249329,
153
+ 0.026225421577692032,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4745.25048828125,
158
+ 120.73893737792969,
159
+ 642.4630126953125,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00087.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.31949129700660706,
26
+ "bounding_box_2D_extent_y": 0.4796605706214905,
27
+ "bounding_box_2D_origin_x": 0.3480548560619354,
28
+ "bounding_box_2D_origin_y": 0.5069150924682617,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.8375244140625,
33
+ "bounding_box_3D_origin_y": -0.00341796875,
34
+ "bounding_box_3D_origin_z": -0.769195556640625,
35
+ "bounding_box_3D_pitch": -0.0006790217594243586,
36
+ "bounding_box_3D_pitch_deg": -0.038905080407857895,
37
+ "bounding_box_3D_roll": -0.007039386313408613,
38
+ "bounding_box_3D_roll_deg": -0.4033271372318268,
39
+ "bounding_box_3D_yaw": 1.9322744607925415,
40
+ "bounding_box_3D_yaw_deg": 110.71117401123047,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004975795745849609,
46
+ "relative_velocity_x": -0.3535783886909485,
47
+ "relative_velocity_y": 0.9354100823402405,
48
+ "relative_velocity_z": 0.0006796307861804962,
49
+ "total_pixels": 116564,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 116506
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.03945121169090271,
76
+ "bounding_box_2D_extent_y": 0.04405263066291809,
77
+ "bounding_box_2D_origin_x": 0.3917360305786133,
78
+ "bounding_box_2D_origin_y": 0.45697423815727234,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 67.44683837890625,
83
+ "bounding_box_3D_origin_y": 9.03515625,
84
+ "bounding_box_3D_origin_z": 1.755157470703125,
85
+ "bounding_box_3D_pitch": 0.06224566698074341,
86
+ "bounding_box_3D_pitch_deg": 3.5664141178131104,
87
+ "bounding_box_3D_roll": 0.03957818076014519,
88
+ "bounding_box_3D_roll_deg": 2.267662763595581,
89
+ "bounding_box_3D_yaw": -2.737245559692383,
90
+ "bounding_box_3D_yaw_deg": -156.83262634277344,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.5504782199859619,
96
+ "relative_velocity_x": -10.954174041748047,
97
+ "relative_velocity_y": -4.8409576416015625,
98
+ "relative_velocity_z": -0.7558331489562988,
99
+ "total_pixels": 1882,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 846
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.48,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 87,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04406599700450897,
140
+ 0.024511629715561867,
141
+ -0.9987279176712036,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9982698559761047,
146
+ 0.040036968886852264,
147
+ -0.04306316375732422,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.038930486887693405,
152
+ 0.9988976120948792,
153
+ 0.026233486831188202,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4744.990234375,
158
+ 120.87911987304688,
159
+ 643.80908203125,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00088.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3181743919849396,
26
+ "bounding_box_2D_extent_y": 0.4785522222518921,
27
+ "bounding_box_2D_origin_x": 0.3539346754550934,
28
+ "bounding_box_2D_origin_y": 0.5068913698196411,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.84857177734375,
33
+ "bounding_box_3D_origin_y": -0.0341796875,
34
+ "bounding_box_3D_origin_z": -0.76904296875,
35
+ "bounding_box_3D_pitch": -0.0006805566954426467,
36
+ "bounding_box_3D_pitch_deg": -0.038993027061223984,
37
+ "bounding_box_3D_roll": -0.0070652118884027,
38
+ "bounding_box_3D_roll_deg": -0.40480682253837585,
39
+ "bounding_box_3D_yaw": 1.93297278881073,
40
+ "bounding_box_3D_yaw_deg": 110.75118255615234,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004487037658691406,
46
+ "relative_velocity_x": -0.354234904050827,
47
+ "relative_velocity_y": 0.9351615309715271,
48
+ "relative_velocity_z": 0.0006811432540416718,
49
+ "total_pixels": 115890,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 115838
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.03916966915130615,
76
+ "bounding_box_2D_extent_y": 0.04429829120635986,
77
+ "bounding_box_2D_origin_x": 0.393762469291687,
78
+ "bounding_box_2D_origin_y": 0.4572376608848572,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 67.02056884765625,
83
+ "bounding_box_3D_origin_y": 8.818359375,
84
+ "bounding_box_3D_origin_z": 1.72552490234375,
85
+ "bounding_box_3D_pitch": 0.06214398518204689,
86
+ "bounding_box_3D_pitch_deg": 3.5605881214141846,
87
+ "bounding_box_3D_roll": 0.037708260118961334,
88
+ "bounding_box_3D_roll_deg": 2.1605241298675537,
89
+ "bounding_box_3D_yaw": -2.7488937377929688,
90
+ "bounding_box_3D_yaw_deg": -157.50001525878906,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.5389957427978516,
96
+ "relative_velocity_x": -11.008626937866211,
97
+ "relative_velocity_y": -4.71524715423584,
98
+ "relative_velocity_z": -0.7593786716461182,
99
+ "total_pixels": 1872,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 863
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.52,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 88,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04378554970026016,
140
+ 0.024527672678232193,
141
+ -0.9987398386001587,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9982808232307434,
146
+ 0.040064338594675064,
147
+ -0.04278150200843811,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03896452113986015,
152
+ 0.9988960027694702,
153
+ 0.026239745318889618,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4744.73486328125,
158
+ 120.9946060180664,
159
+ 645.1212768554688,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00089.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3169535994529724,
26
+ "bounding_box_2D_extent_y": 0.47745513916015625,
27
+ "bounding_box_2D_origin_x": 0.35978347063064575,
28
+ "bounding_box_2D_origin_y": 0.5068631768226624,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.8594970703125,
33
+ "bounding_box_3D_origin_y": -0.06689453125,
34
+ "bounding_box_3D_origin_z": -0.7688446044921875,
35
+ "bounding_box_3D_pitch": -0.0006961636245250702,
36
+ "bounding_box_3D_pitch_deg": -0.039887238293886185,
37
+ "bounding_box_3D_roll": -0.007100978400558233,
38
+ "bounding_box_3D_roll_deg": -0.40685608983039856,
39
+ "bounding_box_3D_yaw": 1.9336234331130981,
40
+ "bounding_box_3D_yaw_deg": 110.78845977783203,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004863142967224121,
46
+ "relative_velocity_x": -0.35484781861305237,
47
+ "relative_velocity_y": 0.9349292516708374,
48
+ "relative_velocity_z": 0.0006976481527090073,
49
+ "total_pixels": 115145,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 115089
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.038941413164138794,
76
+ "bounding_box_2D_extent_y": 0.04457736015319824,
77
+ "bounding_box_2D_origin_x": 0.39577263593673706,
78
+ "bounding_box_2D_origin_y": 0.45748382806777954,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 66.59307861328125,
83
+ "bounding_box_3D_origin_y": 8.60107421875,
84
+ "bounding_box_3D_origin_z": 1.69647216796875,
85
+ "bounding_box_3D_pitch": 0.061872586607933044,
86
+ "bounding_box_3D_pitch_deg": 3.5450382232666016,
87
+ "bounding_box_3D_roll": 0.03731992468237877,
88
+ "bounding_box_3D_roll_deg": 2.1382741928100586,
89
+ "bounding_box_3D_yaw": -2.7596728801727295,
90
+ "bounding_box_3D_yaw_deg": -158.11761474609375,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.5695328712463379,
96
+ "relative_velocity_x": -11.062938690185547,
97
+ "relative_velocity_y": -4.586452484130859,
98
+ "relative_velocity_z": -0.7589429020881653,
99
+ "total_pixels": 1884,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 811
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.56,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 89,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.043529950082302094,
140
+ 0.024551913142204285,
141
+ -0.9987504482269287,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9982907772064209,
146
+ 0.04009104147553444,
147
+ -0.042524371296167374,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03899688646197319,
152
+ 0.998894453048706,
153
+ 0.026255108416080475,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4744.49609375,
158
+ 121.09999084472656,
159
+ 646.3163452148438,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00090.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3155457377433777,
26
+ "bounding_box_2D_extent_y": 0.47636252641677856,
27
+ "bounding_box_2D_origin_x": 0.3658645749092102,
28
+ "bounding_box_2D_origin_y": 0.50685715675354,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.8704833984375,
33
+ "bounding_box_3D_origin_y": -0.09716796875,
34
+ "bounding_box_3D_origin_z": -0.768798828125,
35
+ "bounding_box_3D_pitch": -0.0007187464507296681,
36
+ "bounding_box_3D_pitch_deg": -0.04118113964796066,
37
+ "bounding_box_3D_roll": -0.007119650952517986,
38
+ "bounding_box_3D_roll_deg": -0.40792596340179443,
39
+ "bounding_box_3D_yaw": 1.9342621564865112,
40
+ "bounding_box_3D_yaw_deg": 110.82505798339844,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.000523686408996582,
46
+ "relative_velocity_x": -0.3554461598396301,
47
+ "relative_velocity_y": 0.9347018599510193,
48
+ "relative_velocity_z": 0.0007202271372079849,
49
+ "total_pixels": 114570,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 114510
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.038663774728775024,
76
+ "bounding_box_2D_extent_y": 0.04484283924102783,
77
+ "bounding_box_2D_origin_x": 0.397746205329895,
78
+ "bounding_box_2D_origin_y": 0.4577423334121704,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 66.16351318359375,
83
+ "bounding_box_3D_origin_y": 8.39208984375,
84
+ "bounding_box_3D_origin_z": 1.667083740234375,
85
+ "bounding_box_3D_pitch": 0.06137607991695404,
86
+ "bounding_box_3D_pitch_deg": 3.5165903568267822,
87
+ "bounding_box_3D_roll": 0.03664984181523323,
88
+ "bounding_box_3D_roll_deg": 2.099881172180176,
89
+ "bounding_box_3D_yaw": -2.771134376525879,
90
+ "bounding_box_3D_yaw_deg": -158.77430725097656,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.5963158011436462,
96
+ "relative_velocity_x": -11.111943244934082,
97
+ "relative_velocity_y": -4.466980457305908,
98
+ "relative_velocity_z": -0.7555854320526123,
99
+ "total_pixels": 1900,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 767
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.6,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 90,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04327729344367981,
140
+ 0.02455982193350792,
141
+ -0.9987612366676331,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983004331588745,
146
+ 0.0401192381978035,
147
+ -0.042270783334970474,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03903137147426605,
152
+ 0.998893141746521,
153
+ 0.026254329830408096,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4744.25830078125,
158
+ 121.22626495361328,
159
+ 647.4954833984375,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00091.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3143296539783478,
26
+ "bounding_box_2D_extent_y": 0.47526490688323975,
27
+ "bounding_box_2D_origin_x": 0.37166592478752136,
28
+ "bounding_box_2D_origin_y": 0.5067812204360962,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.88134765625,
33
+ "bounding_box_3D_origin_y": -0.1298828125,
34
+ "bounding_box_3D_origin_z": -0.7685089111328125,
35
+ "bounding_box_3D_pitch": -0.0007121934904716909,
36
+ "bounding_box_3D_pitch_deg": -0.04080568253993988,
37
+ "bounding_box_3D_roll": -0.007166082970798016,
38
+ "bounding_box_3D_roll_deg": -0.41058632731437683,
39
+ "bounding_box_3D_yaw": 1.934858798980713,
40
+ "bounding_box_3D_yaw_deg": 110.85924530029297,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.000526130199432373,
46
+ "relative_velocity_x": -0.3560054898262024,
47
+ "relative_velocity_y": 0.9344891309738159,
48
+ "relative_velocity_z": 0.0007136613130569458,
49
+ "total_pixels": 114036,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 113976
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.03836628794670105,
76
+ "bounding_box_2D_extent_y": 0.04511186480522156,
77
+ "bounding_box_2D_origin_x": 0.3997251093387604,
78
+ "bounding_box_2D_origin_y": 0.45796146988868713,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 65.732421875,
83
+ "bounding_box_3D_origin_y": 8.1865234375,
84
+ "bounding_box_3D_origin_z": 1.6395416259765625,
85
+ "bounding_box_3D_pitch": 0.06101800873875618,
86
+ "bounding_box_3D_pitch_deg": 3.4960744380950928,
87
+ "bounding_box_3D_roll": 0.03560468181967735,
88
+ "bounding_box_3D_roll_deg": 2.0399980545043945,
89
+ "bounding_box_3D_yaw": -2.782963514328003,
90
+ "bounding_box_3D_yaw_deg": -159.4520721435547,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.6140443086624146,
96
+ "relative_velocity_x": -11.1628999710083,
97
+ "relative_velocity_y": -4.3390913009643555,
98
+ "relative_velocity_z": -0.7497088313102722,
99
+ "total_pixels": 1894,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 731
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.64,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 91,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04305759444832802,
140
+ 0.02460373193025589,
141
+ -0.9987697005271912,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983091354370117,
146
+ 0.040133990347385406,
147
+ -0.04204908385872841,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03905004262924194,
152
+ 0.9988914728164673,
153
+ 0.026290204375982285,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4744.04296875,
158
+ 121.2586669921875,
159
+ 648.5206298828125,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00092.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3130100667476654,
26
+ "bounding_box_2D_extent_y": 0.47415703535079956,
27
+ "bounding_box_2D_origin_x": 0.37769588828086853,
28
+ "bounding_box_2D_origin_y": 0.5067099332809448,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.892333984375,
33
+ "bounding_box_3D_origin_y": -0.16162109375,
34
+ "bounding_box_3D_origin_z": -0.7681732177734375,
35
+ "bounding_box_3D_pitch": -0.0006805211887694895,
36
+ "bounding_box_3D_pitch_deg": -0.038990993052721024,
37
+ "bounding_box_3D_roll": -0.007213361095637083,
38
+ "bounding_box_3D_roll_deg": -0.4132951498031616,
39
+ "bounding_box_3D_yaw": 1.9354063272476196,
40
+ "bounding_box_3D_yaw_deg": 110.89061737060547,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004763603210449219,
46
+ "relative_velocity_x": -0.3565216064453125,
47
+ "relative_velocity_y": 0.9342922568321228,
48
+ "relative_velocity_z": 0.0006819553673267365,
49
+ "total_pixels": 113363,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 113309
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.03807121515274048,
76
+ "bounding_box_2D_extent_y": 0.04537755250930786,
77
+ "bounding_box_2D_origin_x": 0.4016839265823364,
78
+ "bounding_box_2D_origin_y": 0.45817065238952637,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 65.30023193359375,
83
+ "bounding_box_3D_origin_y": 7.98095703125,
84
+ "bounding_box_3D_origin_z": 1.6125335693359375,
85
+ "bounding_box_3D_pitch": 0.06085873395204544,
86
+ "bounding_box_3D_pitch_deg": 3.4869487285614014,
87
+ "bounding_box_3D_roll": 0.03376307338476181,
88
+ "bounding_box_3D_roll_deg": 1.9344816207885742,
89
+ "bounding_box_3D_yaw": -2.794267177581787,
90
+ "bounding_box_3D_yaw_deg": -160.09971618652344,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.6568265557289124,
96
+ "relative_velocity_x": -11.213838577270508,
97
+ "relative_velocity_y": -4.206525802612305,
98
+ "relative_velocity_z": -0.745041012763977,
99
+ "total_pixels": 1897,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 651
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.68,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 92,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.042863618582487106,
140
+ 0.02464957907795906,
141
+ -0.9987768530845642,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983168840408325,
146
+ 0.04014650732278824,
147
+ -0.04185307398438454,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03906574100255966,
152
+ 0.9988898038864136,
153
+ 0.026328913867473602,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4743.84521484375,
158
+ 121.27888488769531,
159
+ 649.42333984375,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00093.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3118078410625458,
26
+ "bounding_box_2D_extent_y": 0.4730874300003052,
27
+ "bounding_box_2D_origin_x": 0.3834455907344818,
28
+ "bounding_box_2D_origin_y": 0.5066519975662231,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.90313720703125,
33
+ "bounding_box_3D_origin_y": -0.1953125,
34
+ "bounding_box_3D_origin_z": -0.7678985595703125,
35
+ "bounding_box_3D_pitch": -0.0006565711810253561,
36
+ "bounding_box_3D_pitch_deg": -0.03761875629425049,
37
+ "bounding_box_3D_roll": -0.007253927178680897,
38
+ "bounding_box_3D_roll_deg": -0.4156194031238556,
39
+ "bounding_box_3D_yaw": 1.9359326362609863,
40
+ "bounding_box_3D_yaw_deg": 110.92076873779297,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.000452578067779541,
46
+ "relative_velocity_x": -0.35701635479927063,
47
+ "relative_velocity_y": 0.9341034889221191,
48
+ "relative_velocity_z": 0.0006579868495464325,
49
+ "total_pixels": 112684,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 112633
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.037792474031448364,
76
+ "bounding_box_2D_extent_y": 0.04566594958305359,
77
+ "bounding_box_2D_origin_x": 0.403606116771698,
78
+ "bounding_box_2D_origin_y": 0.45839616656303406,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 64.8662109375,
83
+ "bounding_box_3D_origin_y": 7.77978515625,
84
+ "bounding_box_3D_origin_z": 1.5848388671875,
85
+ "bounding_box_3D_pitch": 0.06065685302019119,
86
+ "bounding_box_3D_pitch_deg": 3.47538161277771,
87
+ "bounding_box_3D_roll": 0.032774876803159714,
88
+ "bounding_box_3D_roll_deg": 1.8778620958328247,
89
+ "bounding_box_3D_yaw": -2.8055129051208496,
90
+ "bounding_box_3D_yaw_deg": -160.74404907226563,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.7081794142723083,
96
+ "relative_velocity_x": -11.260845184326172,
97
+ "relative_velocity_y": -4.079471588134766,
98
+ "relative_velocity_z": -0.7425614595413208,
99
+ "total_pixels": 1895,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 553
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.72,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 93,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04267388954758644,
140
+ 0.024691885337233543,
141
+ -0.9987838864326477,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983247518539429,
146
+ 0.04015028476715088,
147
+ -0.04166167974472046,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03907275199890137,
152
+ 0.9988885521888733,
153
+ 0.026363886892795563,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4743.65087890625,
158
+ 121.2608642578125,
159
+ 650.3045043945313,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00094.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3105252981185913,
26
+ "bounding_box_2D_extent_y": 0.4719926118850708,
27
+ "bounding_box_2D_origin_x": 0.3892507553100586,
28
+ "bounding_box_2D_origin_y": 0.506602942943573,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.9141845703125,
33
+ "bounding_box_3D_origin_y": -0.22607421875,
34
+ "bounding_box_3D_origin_z": -0.7677001953125,
35
+ "bounding_box_3D_pitch": -0.0006448067724704742,
36
+ "bounding_box_3D_pitch_deg": -0.03694470599293709,
37
+ "bounding_box_3D_roll": -0.00728006474673748,
38
+ "bounding_box_3D_roll_deg": -0.41711699962615967,
39
+ "bounding_box_3D_yaw": 1.936435341835022,
40
+ "bounding_box_3D_yaw_deg": 110.94957733154297,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004729032516479492,
46
+ "relative_velocity_x": -0.3574890196323395,
47
+ "relative_velocity_y": 0.9339225888252258,
48
+ "relative_velocity_z": 0.0006462018936872482,
49
+ "total_pixels": 112071,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 112018
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.03751194477081299,
76
+ "bounding_box_2D_extent_y": 0.045932769775390625,
77
+ "bounding_box_2D_origin_x": 0.40549227595329285,
78
+ "bounding_box_2D_origin_y": 0.4586407542228699,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 64.4312744140625,
83
+ "bounding_box_3D_origin_y": 7.5849609375,
84
+ "bounding_box_3D_origin_z": 1.556488037109375,
85
+ "bounding_box_3D_pitch": 0.06015880033373833,
86
+ "bounding_box_3D_pitch_deg": 3.446845293045044,
87
+ "bounding_box_3D_roll": 0.031352125108242035,
88
+ "bounding_box_3D_roll_deg": 1.796344518661499,
89
+ "bounding_box_3D_yaw": -2.8165414333343506,
90
+ "bounding_box_3D_yaw_deg": -161.37594604492188,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.6995798349380493,
96
+ "relative_velocity_x": -11.306235313415527,
97
+ "relative_velocity_y": -3.9525251388549805,
98
+ "relative_velocity_z": -0.7394042015075684,
99
+ "total_pixels": 1904,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 572
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.76,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 94,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04249132424592972,
140
+ 0.02472166158258915,
141
+ -0.9987909197807312,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983325004577637,
146
+ 0.04014671966433525,
147
+ -0.041478127241134644,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03907277062535286,
152
+ 0.9988878965377808,
153
+ 0.026386326178908348,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4743.46240234375,
158
+ 121.2188720703125,
159
+ 651.1492309570313,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00095.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3094632625579834,
26
+ "bounding_box_2D_extent_y": 0.47092753648757935,
27
+ "bounding_box_2D_origin_x": 0.3951176404953003,
28
+ "bounding_box_2D_origin_y": 0.5065628886222839,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.9251708984375,
33
+ "bounding_box_3D_origin_y": -0.2587890625,
34
+ "bounding_box_3D_origin_z": -0.7674560546875,
35
+ "bounding_box_3D_pitch": -0.0006156657473184168,
36
+ "bounding_box_3D_pitch_deg": -0.03527504950761795,
37
+ "bounding_box_3D_roll": -0.007305528037250042,
38
+ "bounding_box_3D_roll_deg": -0.4185759425163269,
39
+ "bounding_box_3D_yaw": 1.936931848526001,
40
+ "bounding_box_3D_yaw_deg": 110.97801971435547,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.0004399418830871582,
46
+ "relative_velocity_x": -0.35795408487319946,
47
+ "relative_velocity_y": 0.9337444305419922,
48
+ "relative_velocity_z": 0.0006170477718114853,
49
+ "total_pixels": 111382,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 111333
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.03723070025444031,
76
+ "bounding_box_2D_extent_y": 0.046228110790252686,
77
+ "bounding_box_2D_origin_x": 0.40735214948654175,
78
+ "bounding_box_2D_origin_y": 0.45882368087768555,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 63.99444580078125,
83
+ "bounding_box_3D_origin_y": 7.39453125,
84
+ "bounding_box_3D_origin_z": 1.530792236328125,
85
+ "bounding_box_3D_pitch": 0.06018413230776787,
86
+ "bounding_box_3D_pitch_deg": 3.4482967853546143,
87
+ "bounding_box_3D_roll": 0.029695767909288406,
88
+ "bounding_box_3D_roll_deg": 1.7014422416687012,
89
+ "bounding_box_3D_yaw": -2.8274500370025635,
90
+ "bounding_box_3D_yaw_deg": -162.00096130371094,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.6505208015441895,
96
+ "relative_velocity_x": -11.34952163696289,
97
+ "relative_velocity_y": -3.8277244567871094,
98
+ "relative_velocity_z": -0.7328171730041504,
99
+ "total_pixels": 1920,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 671
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.8,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 95,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.042305659502744675,
140
+ 0.024752262979745865,
141
+ -0.998798131942749,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983405470848083,
146
+ 0.04013965278863907,
147
+ -0.04129153862595558,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03906934708356857,
152
+ 0.9988875389099121,
153
+ 0.026409320533275604,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4743.271484375,
158
+ 121.15963745117188,
159
+ 652.0083618164063,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00096.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.30827048420906067,
26
+ "bounding_box_2D_extent_y": 0.46984732151031494,
27
+ "bounding_box_2D_origin_x": 0.40079155564308167,
28
+ "bounding_box_2D_origin_y": 0.5065187215805054,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.9361572265625,
33
+ "bounding_box_3D_origin_y": -0.2900390625,
34
+ "bounding_box_3D_origin_z": -0.76727294921875,
35
+ "bounding_box_3D_pitch": -0.0005870480090379715,
36
+ "bounding_box_3D_pitch_deg": -0.033635374158620834,
37
+ "bounding_box_3D_roll": -0.007321953773498535,
38
+ "bounding_box_3D_roll_deg": -0.41951704025268555,
39
+ "bounding_box_3D_yaw": 1.9373701810836792,
40
+ "bounding_box_3D_yaw_deg": 111.00313568115234,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00044214725494384766,
46
+ "relative_velocity_x": -0.3583674728870392,
47
+ "relative_velocity_y": 0.9335858821868896,
48
+ "relative_velocity_z": 0.0005883965641260147,
49
+ "total_pixels": 110818,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 110769
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.036964744329452515,
76
+ "bounding_box_2D_extent_y": 0.04655998945236206,
77
+ "bounding_box_2D_origin_x": 0.40916958451271057,
78
+ "bounding_box_2D_origin_y": 0.45905232429504395,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 63.55657958984375,
83
+ "bounding_box_3D_origin_y": 7.2080078125,
84
+ "bounding_box_3D_origin_z": 1.5032196044921875,
85
+ "bounding_box_3D_pitch": 0.059489715844392776,
86
+ "bounding_box_3D_pitch_deg": 3.4085097312927246,
87
+ "bounding_box_3D_roll": 0.031158316880464554,
88
+ "bounding_box_3D_roll_deg": 1.7852400541305542,
89
+ "bounding_box_3D_yaw": -2.8382091522216797,
90
+ "bounding_box_3D_yaw_deg": -162.61740112304688,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.603753924369812,
96
+ "relative_velocity_x": -11.392163276672363,
97
+ "relative_velocity_y": -3.7027907371520996,
98
+ "relative_velocity_z": -0.7127882242202759,
99
+ "total_pixels": 1918,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 760
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.84,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 96,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.042157236486673355,
140
+ 0.024775834754109383,
141
+ -0.9988037943840027,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.998347282409668,
146
+ 0.04012612625956535,
147
+ -0.04114261642098427,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.039058782160282135,
152
+ 0.9988874793052673,
153
+ 0.026426490396261215,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4743.10693359375,
158
+ 121.0759506225586,
159
+ 652.6888427734375,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00097.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.30691564083099365,
26
+ "bounding_box_2D_extent_y": 0.4687783718109131,
27
+ "bounding_box_2D_origin_x": 0.4066850543022156,
28
+ "bounding_box_2D_origin_y": 0.5064486861228943,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.947021484375,
33
+ "bounding_box_3D_origin_y": -0.32373046875,
34
+ "bounding_box_3D_origin_z": -0.7669525146484375,
35
+ "bounding_box_3D_pitch": -0.0005498566315509379,
36
+ "bounding_box_3D_pitch_deg": -0.03150446340441704,
37
+ "bounding_box_3D_roll": -0.007360224612057209,
38
+ "bounding_box_3D_roll_deg": -0.421709805727005,
39
+ "bounding_box_3D_yaw": 1.9378132820129395,
40
+ "bounding_box_3D_yaw_deg": 111.02852630615234,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00043582916259765625,
46
+ "relative_velocity_x": -0.3587836027145386,
47
+ "relative_velocity_y": 0.9334259629249573,
48
+ "relative_velocity_z": 0.0005511883646249771,
49
+ "total_pixels": 110138,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 110090
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.036686211824417114,
76
+ "bounding_box_2D_extent_y": 0.04693186283111572,
77
+ "bounding_box_2D_origin_x": 0.41093841195106506,
78
+ "bounding_box_2D_origin_y": 0.459256112575531,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 63.11669921875,
83
+ "bounding_box_3D_origin_y": 7.02783203125,
84
+ "bounding_box_3D_origin_z": 1.4765167236328125,
85
+ "bounding_box_3D_pitch": 0.059173520654439926,
86
+ "bounding_box_3D_pitch_deg": 3.390393018722534,
87
+ "bounding_box_3D_roll": 0.033153943717479706,
88
+ "bounding_box_3D_roll_deg": 1.8995810747146606,
89
+ "bounding_box_3D_yaw": -2.849547863006592,
90
+ "bounding_box_3D_yaw_deg": -163.26707458496094,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.5478036403656006,
96
+ "relative_velocity_x": -11.431755065917969,
97
+ "relative_velocity_y": -3.5803568363189697,
98
+ "relative_velocity_z": -0.7043582201004028,
99
+ "total_pixels": 1935,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 875
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.88,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 97,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04198967292904854,
140
+ 0.024821851402521133,
141
+ -0.9988096356391907,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983546733856201,
146
+ 0.04011579230427742,
147
+ -0.04097360372543335,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03905100002884865,
152
+ 0.99888676404953,
153
+ 0.026465456932783127,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4742.9287109375,
158
+ 120.98828125,
159
+ 653.4631958007813,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00098.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.30572932958602905,
26
+ "bounding_box_2D_extent_y": 0.46771544218063354,
27
+ "bounding_box_2D_origin_x": 0.4123920798301697,
28
+ "bounding_box_2D_origin_y": 0.5064352750778198,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.9578857421875,
33
+ "bounding_box_3D_origin_y": -0.3564453125,
34
+ "bounding_box_3D_origin_z": -0.766876220703125,
35
+ "bounding_box_3D_pitch": -0.0005214065313339233,
36
+ "bounding_box_3D_pitch_deg": -0.029874393716454506,
37
+ "bounding_box_3D_roll": -0.00736475782468915,
38
+ "bounding_box_3D_roll_deg": -0.42196953296661377,
39
+ "bounding_box_3D_yaw": 1.9382063150405884,
40
+ "bounding_box_3D_yaw_deg": 111.05104064941406,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00048416852951049805,
46
+ "relative_velocity_x": -0.3591516613960266,
47
+ "relative_velocity_y": 0.9332844018936157,
48
+ "relative_velocity_z": 0.0005227290093898773,
49
+ "total_pixels": 109467,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 109414
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.0363670289516449,
76
+ "bounding_box_2D_extent_y": 0.04728811979293823,
77
+ "bounding_box_2D_origin_x": 0.41273364424705505,
78
+ "bounding_box_2D_origin_y": 0.459524929523468,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 62.67584228515625,
83
+ "bounding_box_3D_origin_y": 6.849609375,
84
+ "bounding_box_3D_origin_z": 1.446807861328125,
85
+ "bounding_box_3D_pitch": 0.05949873477220535,
86
+ "bounding_box_3D_pitch_deg": 3.4090263843536377,
87
+ "bounding_box_3D_roll": 0.032455045729875565,
88
+ "bounding_box_3D_roll_deg": 1.859537124633789,
89
+ "bounding_box_3D_yaw": -2.860974073410034,
90
+ "bounding_box_3D_yaw_deg": -163.92173767089844,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.47737908363342285,
96
+ "relative_velocity_x": -11.47199821472168,
97
+ "relative_velocity_y": -3.4500722885131836,
98
+ "relative_velocity_z": -0.7002429962158203,
99
+ "total_pixels": 1923,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 1005
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.92,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 98,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.041864849627017975,
140
+ 0.024834195151925087,
141
+ -0.998814582824707,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983603954315186,
146
+ 0.040098369121551514,
147
+ -0.04084882140159607,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03903638944029808,
152
+ 0.9988870620727539,
153
+ 0.026472188532352448,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4742.77880859375,
158
+ 120.89570617675781,
159
+ 654.02978515625,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00099.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.3046206831932068,
26
+ "bounding_box_2D_extent_y": 0.4666401147842407,
27
+ "bounding_box_2D_origin_x": 0.418071448802948,
28
+ "bounding_box_2D_origin_y": 0.5064001083374023,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.96905517578125,
33
+ "bounding_box_3D_origin_y": -0.38916015625,
34
+ "bounding_box_3D_origin_z": -0.76666259765625,
35
+ "bounding_box_3D_pitch": -0.00048411262105219066,
36
+ "bounding_box_3D_pitch_deg": -0.027737610042095184,
37
+ "bounding_box_3D_roll": -0.007376883644610643,
38
+ "bounding_box_3D_roll_deg": -0.4226643145084381,
39
+ "bounding_box_3D_yaw": 1.9385842084884644,
40
+ "bounding_box_3D_yaw_deg": 111.07269287109375,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.000523686408996582,
46
+ "relative_velocity_x": -0.35950836539268494,
47
+ "relative_velocity_y": 0.9331471920013428,
48
+ "relative_velocity_z": 0.0004854053258895874,
49
+ "total_pixels": 108838,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 108781
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.03608906269073486,
76
+ "bounding_box_2D_extent_y": 0.04764997959136963,
77
+ "bounding_box_2D_origin_x": 0.4144726097583771,
78
+ "bounding_box_2D_origin_y": 0.45977073907852173,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 62.234375,
83
+ "bounding_box_3D_origin_y": 6.67578125,
84
+ "bounding_box_3D_origin_z": 1.4183807373046875,
85
+ "bounding_box_3D_pitch": 0.05933653563261032,
86
+ "bounding_box_3D_pitch_deg": 3.399733066558838,
87
+ "bounding_box_3D_roll": 0.032936833798885345,
88
+ "bounding_box_3D_roll_deg": 1.8871415853500366,
89
+ "bounding_box_3D_yaw": -2.871762275695801,
90
+ "bounding_box_3D_yaw_deg": -164.53985595703125,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.42982912063598633,
96
+ "relative_velocity_x": -11.510409355163574,
97
+ "relative_velocity_y": -3.318782091140747,
98
+ "relative_velocity_z": -0.7044729590415955,
99
+ "total_pixels": 1931,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 1101
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 3.96,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 99,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.04173455387353897,
140
+ 0.02485562115907669,
141
+ -0.9988195896148682,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983664751052856,
146
+ 0.04007916897535324,
147
+ -0.040718261152505875,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.03901977464556694,
152
+ 0.9988873600959778,
153
+ 0.02648770809173584,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4742.62548828125,
158
+ 120.78706359863281,
159
+ 654.6231689453125,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }
annotation_json/MAP1/CAM_BACK_RIGHT/CAM_BACK_RIGHT_00100.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "captured_objects": [
3
+ {
4
+ "actor_attributes": {
5
+ "bounds": {
6
+ "max": [
7
+ 1.7386258599813798,
8
+ 0.3659164237976074,
9
+ 1.2634105682373047
10
+ ],
11
+ "min": [
12
+ -0.40297014236450196,
13
+ -0.36584428787231443,
14
+ -0.3451234817504883
15
+ ]
16
+ },
17
+ "triangle_count": 78041.0
18
+ },
19
+ "attributes": {
20
+ "aiMotive.annotation": {
21
+ "semantic_label": "DontCare"
22
+ },
23
+ "asset_name": "asset://Vehicles/Superbike/Superbike_Hull.gltf"
24
+ },
25
+ "bounding_box_2D_extent_x": 0.30328819155693054,
26
+ "bounding_box_2D_extent_y": 0.46558135747909546,
27
+ "bounding_box_2D_origin_x": 0.4238070547580719,
28
+ "bounding_box_2D_origin_y": 0.5063654184341431,
29
+ "bounding_box_3D_extent_x": 2.073338508605957,
30
+ "bounding_box_3D_extent_y": 0.7281042337417603,
31
+ "bounding_box_3D_extent_z": 1.5867739915847778,
32
+ "bounding_box_3D_origin_x": 4.97998046875,
33
+ "bounding_box_3D_origin_y": -0.421875,
34
+ "bounding_box_3D_origin_z": -0.7664642333984375,
35
+ "bounding_box_3D_pitch": -0.00045222416520118713,
36
+ "bounding_box_3D_pitch_deg": -0.02591053582727909,
37
+ "bounding_box_3D_roll": -0.007385656237602234,
38
+ "bounding_box_3D_roll_deg": -0.4231669306755066,
39
+ "bounding_box_3D_yaw": 1.938935399055481,
40
+ "bounding_box_3D_yaw_deg": 111.09281921386719,
41
+ "object_class": "Motorcycle",
42
+ "object_id": 3574,
43
+ "object_name": "exo (2)",
44
+ "object_owner_id": 3574,
45
+ "occluded": 0.00045239925384521484,
46
+ "relative_velocity_x": -0.3598363697528839,
47
+ "relative_velocity_y": 0.9330209493637085,
48
+ "relative_velocity_z": 0.0004535168409347534,
49
+ "total_pixels": 108316,
50
+ "truncated": 0.0,
51
+ "visible_pixels": 108267
52
+ },
53
+ {
54
+ "actor_attributes": {
55
+ "bounds": {
56
+ "max": [
57
+ 4.8280078125,
58
+ 1.249620361328125,
59
+ 1.5377174377441407
60
+ ],
61
+ "min": [
62
+ -1.2557321166992188,
63
+ -1.2482022857666015,
64
+ -0.44732421875
65
+ ]
66
+ },
67
+ "triangle_count": 129847.0
68
+ },
69
+ "attributes": {
70
+ "aiMotive.annotation": {
71
+ "semantic_label": "DontCare"
72
+ },
73
+ "asset_name": "asset://Vehicles/DodgeRam/DodgeRam_Hull.gltf"
74
+ },
75
+ "bounding_box_2D_extent_x": 0.035787343978881836,
76
+ "bounding_box_2D_extent_y": 0.047954022884368896,
77
+ "bounding_box_2D_origin_x": 0.4161859154701233,
78
+ "bounding_box_2D_origin_y": 0.4600139260292053,
79
+ "bounding_box_3D_extent_x": 6.059701919555664,
80
+ "bounding_box_3D_extent_y": 2.4927897453308105,
81
+ "bounding_box_3D_extent_z": 1.9850029945373535,
82
+ "bounding_box_3D_origin_x": 61.7919921875,
83
+ "bounding_box_3D_origin_y": 6.505859375,
84
+ "bounding_box_3D_origin_z": 1.39080810546875,
85
+ "bounding_box_3D_pitch": 0.058718614280223846,
86
+ "bounding_box_3D_pitch_deg": 3.3643288612365723,
87
+ "bounding_box_3D_roll": 0.032046496868133545,
88
+ "bounding_box_3D_roll_deg": 1.836129069328308,
89
+ "bounding_box_3D_yaw": -2.882936716079712,
90
+ "bounding_box_3D_yaw_deg": -165.18011474609375,
91
+ "object_class": "Car",
92
+ "object_id": 3843,
93
+ "object_name": "exo (7)",
94
+ "object_owner_id": 3843,
95
+ "occluded": 0.40740740299224854,
96
+ "relative_velocity_x": -11.545711517333984,
97
+ "relative_velocity_y": -3.194179058074951,
98
+ "relative_velocity_z": -0.7027695775032043,
99
+ "total_pixels": 1944,
100
+ "truncated": 0.0,
101
+ "visible_pixels": 1152
102
+ }
103
+ ],
104
+ "captured_obstacles": [],
105
+ "captured_traffic_lights": [],
106
+ "captured_traffic_signs": [],
107
+ "creation_timestamp": 4.0,
108
+ "sensor_matrix": [
109
+ [
110
+ -0.3420201241970062,
111
+ -0.9396926164627075,
112
+ 0.0,
113
+ 0.0
114
+ ],
115
+ [
116
+ 0.9396926164627075,
117
+ -0.3420201241970062,
118
+ 0.0,
119
+ 0.0
120
+ ],
121
+ [
122
+ 0.0,
123
+ 0.0,
124
+ 1.0,
125
+ 0.0
126
+ ],
127
+ [
128
+ 1.059000015258789,
129
+ -0.46700000762939453,
130
+ 1.5499999523162842,
131
+ 1.0
132
+ ]
133
+ ],
134
+ "sensor_name": "CAM_BACK_RIGHT",
135
+ "sequence_number": 100,
136
+ "vehicle_name": "ego",
137
+ "view_matrix": [
138
+ [
139
+ 0.041627731174230576,
140
+ 0.024876121431589127,
141
+ -0.9988234639167786,
142
+ 0.0
143
+ ],
144
+ [
145
+ -0.9983718991279602,
146
+ 0.04005369544029236,
147
+ -0.04061135649681091,
148
+ 0.0
149
+ ],
150
+ [
151
+ 0.038996316492557526,
152
+ 0.998887836933136,
153
+ 0.02650296501815319,
154
+ 0.0
155
+ ],
156
+ [
157
+ -4742.48876953125,
158
+ 120.64964294433594,
159
+ 655.1041259765625,
160
+ 1.0
161
+ ]
162
+ ]
163
+ }