json dict | __key__ stringlengths 61 97 | __url__ stringclasses 2 values |
|---|---|---|
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
871,
403,
1009,
499
],
"bbox_3d": [
25.262799674276174,
-5.7185892410909105,
-1.6953864471413373,
4.56025706036125,
1.9703689241423414,
1.644577575961921,
-0.025398146533099686,
0.9975224733352661,
1
],
"class": "car",
"description": "1. Appearance: car, red, with visible rear lights and license plate area\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, with the rear of the car clearly visible; partially occluded by the green bounding box and slightly blurred\n4. Relationship with surrounding objects: a white bus to the left front of the target, a pedestrian to the left of the target, a building to the right of the target\n5. Summary: red car, rear facing observer, stationary, located at bottom-right near the right edge of the view, with a white bus to its left front and a building to its right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000717/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000717/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.895681381225586,
-1.9066364765167236,
-0.6452891826629639,
9.251713752746582,
2.862065553665161,
3.2540807723999023,
-0.06256496906280518
],
"class_other": "Car"
}
],
"pose": [
[
-0.02580637900613625,
0.998126531409338,
0.055474842039933275,
-158.24954659477172
],
[
-0.9979336530875703,
-0.02245547571336881,
-0.06020112661556648,
111.91971823362508
],
[
-0.05884262772759906,
-0.056913784861404235,
0.9966435502499683,
7.251334087407891
],
[
0,
0,
0,
1
]
],
"timestamp": 1364
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000717/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
856,
386,
1023,
501
],
"bbox_3d": [
22.927257131623932,
-5.149611743900152,
-1.3932636030829073,
4.451700973857418,
1.9706153357242246,
1.832207450379793,
0.0526117388343148,
0.9979090690612793,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible rear lights\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer; the target is partially occluded by a red car to its right and is located on the right side of the road\n4. Relationship with surrounding objects: a red car to the left front of the target, a white car to the left rear of the target, a building to the right of the target\n5. Summary: dark-colored car, stationary, rear facing observer, located on the right side of the road, partially occluded by a red car to its left front and a white car to its left rear, near a building on the right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001657/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001657/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.611858367919922,
-0.9819447994232178,
-1.0284569263458252,
5.402820110321045,
2.1935384273529053,
1.9641635417938232,
6.332212924957275
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.241222381591797,
-0.9379454851150513,
-1.3893567323684692,
4.551298141479492,
1.945870280265808,
1.6109633445739746,
-6.312108039855957
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.881125454397505,
-5.054663915002408,
-1.4804593238317345,
4.46515392937436,
1.9319533354382123,
1.6197369501869232,
0.07103697673673692
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.304839635007752,
-5.078660618583001,
-1.6090228056694844,
4.453930205487848,
1.9145559862108887,
1.567124328666122,
-0.006754524876532608
],
"class_other": "Car"
}
],
"pose": [
[
-0.060219448200119374,
0.9966016923536052,
0.056202178395531516,
-158.6776700496933
],
[
-0.9961407486213383,
-0.05639902908573069,
-0.06725145689356252,
104.43732424794922
],
[
-0.06385316745935893,
-0.06003512568585922,
0.9961518743089781,
6.770098057779809
],
[
0,
0,
0,
1
]
],
"timestamp": 3168
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001657/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
72,
355,
152,
501
],
"bbox_3d": [
14.593062934562369,
6.761897193610679,
-0.7813082614087659,
0.8374753073700113,
0.7752625528572105,
1.7668908806373684,
3.18567836399495,
0.9875392317771912,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a light-colored object on the head\n2. Motion state: moving left in frame\n3. Position to viewer: top-left, near the left edge of the view; back to observer\n4. Relationship with surrounding objects: a bicycle to the right front of the target, a tree to the right of the target\n5. Summary: person wearing dark clothes, seen from the back, moving left in frame, located at the top-left of the view, with a bicycle and tree nearby to the right front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002732/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002732/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.26807975769043,
-5.743875980377197,
-1.6986618041992188,
4.563467979431152,
1.9705103635787964,
1.6347806453704834,
-6.302146911621094
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.596982955932617,
-1.8309621810913086,
-0.6574179530143738,
9.169821739196777,
2.867919683456421,
3.260716438293457,
-6.3368988037109375
],
"class_other": "Car"
}
],
"pose": [
[
-0.025634565953430666,
0.9981334539957619,
0.05542992912560192,
-158.24733215541525
],
[
-0.9979722668077341,
-0.022320156264853785,
-0.059608433186464846,
111.92132039987648
],
[
-0.05825996662384855,
-0.05684556833036809,
0.9966816731786461,
7.251879683694675
],
[
0,
0,
0,
1
]
],
"timestamp": 1328
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002732/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
0,
382,
66,
504
],
"bbox_3d": [
17.388405368192664,
9.529478274797604,
-1.158656288104595,
0.8202876277634354,
0.781182553924498,
1.815904127769783,
-0.02457244940976322,
0.9135625958442688,
2
],
"class": "pedestrian",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003093/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003093/lidar.bin",
"others": [
{
"bbox_3d_other": [
28.062896728515625,
2.383094549179077,
-1.6513934135437012,
4.365705490112305,
1.9357728958129883,
1.642317533493042,
-6.305047035217285
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.400571823120117,
2.645991802215576,
-1.1828877925872803,
5.178966522216797,
2.1865522861480713,
2.094358444213867,
-6.3144073486328125
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.10066547491386,
2.7117518504352347,
-1.117025888510016,
5.30265680505495,
2.22164565042774,
2.236984779878793,
-0.0028702389789736493
],
"class_other": "Car"
},
{
"bbox_3d_other": [
2.1371855124894665,
2.97859708504177,
-1.3057633435184084,
4.774059687211059,
2.0565763784213624,
1.8380811554787229,
-0.027530320363308824
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.0225085295711,
2.736623253409107,
-1.1224747455359523,
4.581428564240907,
2.006939028183904,
1.8611525890732925,
-0.00841272835937179
],
"class_other": "Car"
}
],
"pose": [
[
-0.9995574621263895,
-0.02926661708294239,
0.005324005256553324,
-30.816593845145597
],
[
0.02880726199424049,
-0.9969823226980022,
-0.0720859895131617,
178.9816090263472
],
[
0.007417652178861611,
-0.07190071871836118,
0.9973842113668817,
11.912674029937453
],
[
0,
0,
0,
1
]
],
"timestamp": 2465
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003093/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
198,
407,
318,
622
],
"bbox_3d": [
10.194072470713081,
3.313410265492887,
-1.2719000136504235,
0.8122938585048289,
0.7766827690646665,
1.7150231770457904,
-1.520232758481039,
0.9699621200561523,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack\n2. Motion state: moving left in frame\n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by the green bounding box; side profile facing observer\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white bus to the right rear of the target\n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at the left-center of the view, with a pedestrian and a white bus nearby"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002645/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002645/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.67430114746094,
-4.09023380279541,
-0.09684146195650101,
10.018218040466309,
2.9536428451538086,
3.576003074645996,
6.262482166290283
],
"class_other": "Car"
},
{
"bbox_3d_other": [
34.9312473016722,
-0.23578228894621134,
-0.5323566638067265,
8.765872585713554,
2.8682582218908568,
3.280347545476298,
-6.251182983655861
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.426829180434623,
-4.826396938037163,
-1.4274836116981975,
4.786637166334183,
2.0228733604283877,
1.6871428698371298,
-5.24692066230241
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.735506057739258,
5.581026554107666,
-1.0187036991119385,
0.8516895174980164,
0.8052117824554443,
1.819854497909546,
3.7254109382629395
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.42475414276123,
0.07970714569091797,
-1.2406986951828003,
0.8520795106887817,
0.8094959855079651,
1.8271784782409668,
-7.711695671081543
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.030860168881645,
3.484056281705193,
-1.2307731293350725,
0.8353542575617107,
0.785313370015803,
1.733735508853261,
-4.741099124701913
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999173044219977,
-0.008462053301687643,
-0.009683902692904176,
-96.374110453954
],
[
0.009234567241242766,
-0.9965294797341858,
-0.08272677189749432,
181.41490039012854
],
[
-0.008950256159083125,
-0.08280935740985125,
0.9965252145530761,
11.867454434321415
],
[
0,
0,
0,
1
]
],
"timestamp": 1040
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002645/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
157,
391,
273,
604
],
"bbox_3d": [
10.503359788864287,
3.82697697986972,
-1.170026923368761,
0.8199188709259033,
0.7762632369995117,
1.7787295579910278,
-1.4894443375979787,
0.9904745817184448,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a pole on the left; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white car to the right of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at the left-center of the view, side profile facing observer, partially occluded by a pole, with a pedestrian and a white car nearby to the right front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003321/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003321/lidar.bin",
"others": [
{
"bbox_3d_other": [
57.42066192626953,
9.023954391479492,
-1.1748921871185303,
4.593728542327881,
1.9788028001785278,
1.6738044023513794,
0.9861301183700562
],
"class_other": "Car"
},
{
"bbox_3d_other": [
44.108276982634166,
-3.6989024497763694,
-0.08124048647526938,
10.075045585632324,
2.944793701171875,
3.6042962074279785,
-6.285785279980791
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.832952681868605,
-5.156028971348604,
-1.5847721354693596,
4.851363658905029,
2.0190656185150146,
1.6296827793121338,
0.9645663874233836
],
"class_other": "Car"
}
],
"pose": [
[
-0.9993033214697681,
-0.03581963235183536,
-0.01047977278708733,
-94.50747242967988
],
[
0.03654593380802104,
-0.9961112421554893,
-0.08016725000614733,
181.8800198635629
],
[
-0.007567458066574985,
-0.0804943922868403,
0.9967263347523145,
11.72949179078095
],
[
0,
0,
0,
1
]
],
"timestamp": 2800
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003321/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
913,
434,
1277,
674
],
"bbox_3d": [
11.508309136429972,
-3.964246385066634,
-1.672827464969905,
4.500176077863099,
1.9477350705131808,
1.6105330139591771,
0.06900320785825804,
0.9828365445137024,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, with visible rear lights and license plate area \n2. Motion state: stationary \n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, side profile facing observer; partially occluded by the right edge of the frame \n4. Relationship with surrounding objects: a gray pickup truck to the left front of the target, a stop sign to the left of the target \n5. Summary: dark-colored car, rear facing observer, stationary at the bottom-right of the view, partially occluded by the frame edge, located to the right of a gray pickup truck and near a stop sign"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001879/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001879/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.574100494384766,
-3.1340160369873047,
-1.2733721733093262,
5.370298862457275,
2.1933345794677734,
1.9333750009536743,
-6.8778486251831055
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.284058024718433,
-4.356163174741757,
-1.5728202781458422,
4.66024744585247,
1.9974752842803793,
1.70476245924643,
0.11509998972234617
],
"class_other": "Car"
}
],
"pose": [
[
0.9955275470891016,
0.09184385459898485,
0.022127118184649762,
-147.5474009473006
],
[
-0.09204784494136768,
0.9957193073190238,
0.008381841908182062,
6.507057568125569
],
[
-0.021262578122298884,
-0.010381108058601079,
0.9997200284915119,
1.3325054019615756
],
[
0,
0,
0,
1
]
],
"timestamp": 3416
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001879/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
0,
382,
39,
519
],
"bbox_3d": [
14.51498355815707,
8.405897861309597,
-1.0929085735958441,
0.7577870621382011,
0.729149583255252,
1.7389646675259982,
-2.9119126522573597,
0.8933240175247192,
2
],
"class": "pedestrian",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003368/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003368/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.773040883680025,
-4.470401900950975,
-0.6248790704659055,
10.484884112862861,
3.0252122884716695,
3.65709403676891,
-0.07318910495321251
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.889112802805997,
-5.0919245955288375,
-1.466308571480508,
0.8560392387312928,
0.8121086425117102,
1.7859549701963116,
-1.0436255705730413
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.057088861586138,
-2.4322028700208307,
-1.4769655833659305,
0.8655662621142678,
0.8189650358953318,
1.7596635962166969,
-0.8231286461858147
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998302658813126,
-0.01831309030335974,
0.0020174615844842916,
-95.07425718398234
],
[
0.01809137804149438,
-0.9965918625884181,
-0.08048205677731647,
181.89301157066473
],
[
0.0034844609717449033,
-0.08043189756613013,
0.9967540159867169,
11.724415545625801
],
[
0,
0,
0,
1
]
],
"timestamp": 2864
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003368/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
84,
376,
152,
490
],
"bbox_3d": [
17.394950054625397,
7.957941619934784,
-0.9884498704249438,
0.7901692553812784,
0.7425913701833381,
1.6379465644939886,
-1.64968901496523,
0.9647851586341858,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a tree trunk; side profile facing observer \n4. Relationship with surrounding objects: a black car to the right front of the target, a pedestrian to the right of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at the left-center of the view, partially occluded by a tree trunk, with a black car to the right front and another pedestrian to the right."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003182/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003182/lidar.bin",
"others": [
{
"bbox_3d_other": [
0.7196653214549542,
2.7785478636549215,
-1.4026380827689322,
4.404005908052053,
1.9412777531361944,
1.6977356030408448,
-0.011234084451400062
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.113980104127521,
2.689467814252339,
-1.4562459754174881,
4.5112746260572285,
1.9377234375089967,
1.6284062320256079,
-0.026908873399807298
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.11125373840332,
-5.792640209197998,
-1.040318250656128,
0.7850595712661743,
0.76068115234375,
1.8345191478729248,
-3.0793075561523438
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.305011749267578,
-4.815422058105469,
-1.2337154150009155,
0.7987853288650513,
0.7716431617736816,
1.7413246631622314,
2.8310179710388184
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.713710953769464,
-5.237679702847544,
-1.1616947849273838,
0.8013046657697448,
0.7681858626091604,
1.7470333965734726,
-3.224467156292203
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.06670385826122,
-7.150749610698824,
-1.0131291210019326,
0.8231244388498221,
0.7869809283291704,
1.8299134294891373,
-3.0849014765100335
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.008183901863205,
-4.94546850194655,
-1.1542585240957828,
0.7861653563759577,
0.7637974669258198,
1.779464876517492,
-3.485759556990701
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.999373824701958,
-0.032233462197773254,
-0.014593231832768283,
-89.35505607302039
],
[
0.03323867929114437,
-0.9966383301916321,
-0.07488143289104468,
181.65645986289286
],
[
-0.012130486369500967,
-0.07531960374019703,
0.9970856576006192,
11.73985320621745
],
[
0,
0,
0,
1
]
],
"timestamp": 2539
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003182/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
686,
317,
845,
478
],
"bbox_3d": [
27.89993778525568,
-2.256191983587552,
-0.6426485388577579,
7.451282598658853,
2.7623198527045973,
3.073684472461878,
0.013540861288160233,
0.9452216029167175,
1
],
"class": "car",
"description": "1. Appearance: car, white, with a rectangular dark feature on the side\n2. Motion state: stationary\n3. Position to viewer: top-right, slightly right, near the right edge of the view; rear facing observer; cannot clearly determine\n4. Relationship with surrounding objects: a black car to the left rear of the target, a white van in front of the target\n5. Summary: white car with a rectangular dark feature on the side, located at the top-right of the view, rear facing observer, stationary, with a black car to its left rear and a white van in front."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001075/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001075/lidar.bin",
"others": [
{
"bbox_3d_other": [
42.8736457824707,
11.389580726623535,
-1.070080041885376,
4.527813911437988,
1.9642456769943237,
1.6440123319625854,
7.836198806762695
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.836837768554688,
-6.064643383026123,
-1.6668566465377808,
4.459836006164551,
1.9558814764022827,
1.64310622215271,
-6.395963668823242
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.528404235839844,
-5.7392377853393555,
-1.5183658599853516,
4.3898820877075195,
1.9485735893249512,
1.7374122142791748,
-6.686428546905518
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.635175137277315,
-1.0264276108433776,
-1.5519771915215648,
4.435083251489308,
1.9187951818844764,
1.5860981767572009,
-0.13180550551268633
],
"class_other": "Car"
}
],
"pose": [
[
0.03479785072522945,
-0.9980951012003997,
-0.05094387641972484,
18.818039152911595
],
[
0.9969339131586036,
0.03824177349453994,
-0.06826667967805346,
130.66875001097884
],
[
0.070084822744859,
-0.04841214434164065,
0.9963655864696781,
8.539644195335528
],
[
0,
0,
0,
1
]
],
"timestamp": 2216
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001075/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
697,
418,
940,
638
],
"bbox_3d": [
12.19205358162856,
-1.3648912141715073,
-1.4606307742674751,
4.468528145032839,
1.9127883728115076,
1.5632655506660555,
-0.029997497271012863,
0.9935247898101807,
1
],
"class": "car",
"description": "1. Appearance: sedan, dark-colored, with a distinctive horizontal light strip across the rear\n2. Motion state: stationary\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer; the target is partially occluded by the foggy atmosphere and slightly blurred\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white building with \"ETHICAL SOCIETY\" text to the left of the target, a tree to the left rear of the target\n5. Summary: dark-colored sedan with a horizontal light strip across the rear, stationary in the center-right of the view, rear facing observer, partially occluded by fog, located near a pedestrian and a white building with \"ETHICAL SOCIETY\" text to the left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001821/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001821/lidar.bin",
"others": [
{
"bbox_3d_other": [
8.082188835856925,
-5.216675570451002,
-1.644272040593668,
4.558790404956747,
1.9628385866257216,
1.5919817437507582,
-0.039357015658296524
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.236809730529785,
5.2381672859191895,
-1.0062843561172485,
0.7576189637184143,
0.7428121566772461,
1.7824479341506958,
4.004395961761475
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.03755696924726021,
0.9969471197733265,
0.068453739391134,
-163.78923338125358
],
[
-0.9979363348672453,
-0.033847571991605874,
-0.054565679891325644,
25.174058970874576
],
[
-0.052082104533994374,
-0.07036179535758018,
0.996160966983433,
2.4879627760163774
],
[
0,
0,
0,
1
]
],
"timestamp": 3360
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001821/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
892,
392,
1232,
521
],
"bbox_3d": [
17.578975399378763,
-5.975118514149482,
-1.3655763534868743,
4.887819252985549,
2.0579792993615724,
1.738723834764576,
-5.083779143511743,
0.9955493211746216,
1
],
"class": "car",
"description": "1. Appearance: car, black, with visible wheels and side profile\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; side facing observer, rear facing observer; partially occluded by the green bounding box, boundary truncated\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white bus to the left rear of the target\n5. Summary: black car, side facing observer, rear facing observer, stationary, located at bottom-right near the right edge of the view, partially occluded, with a pedestrian to the left front and a white bus to the left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000625/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000625/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.78691864013672,
-4.0347795486450195,
-0.07147242873907089,
9.966411590576172,
2.9396913051605225,
3.55245304107666,
6.266142845153809
],
"class_other": "Car"
},
{
"bbox_3d_other": [
34.135535132330745,
-0.2799979358640883,
-0.4676817245244256,
10.291845644362876,
2.9572182985935176,
3.428186223822052,
-6.232411465844622
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.368037223815918,
0.41395044326782227,
-1.230628252029419,
0.8244069814682007,
0.792773962020874,
1.8098626136779785,
4.93490743637085
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.268159866333008,
2.7856838703155518,
-1.2922008037567139,
0.807027280330658,
0.7740679383277893,
1.7062981128692627,
7.960253715515137
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.082979202270508,
5.872544288635254,
-1.0176186561584473,
0.8647920489311218,
0.8112219572067261,
1.8504748344421387,
9.851591110229492
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.006856396719826,
2.842751482768847,
-1.2941661141579766,
0.8230854921131506,
0.7802866808650036,
1.7289425305429478,
-4.724025694880386
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999149791694583,
-0.008455597362454699,
-0.009926595881084712,
-96.3737667849413
],
[
0.009248614805677255,
-0.9965259080387882,
-0.08276821691715575,
181.41531103572214
],
[
-0.009192255257472255,
-0.08285298715624675,
0.9965193851413874,
11.866746167017576
],
[
0,
0,
0,
1
]
],
"timestamp": 1036
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000625/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
614,
349,
771,
453
],
"bbox_3d": [
28.008254279508378,
-0.7296882004116418,
-0.7322758909028568,
5.0587232191844045,
2.133093481193439,
2.0554697862695033,
-6.031934675109207,
0.9959216117858887,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark green, with roof rack \n2. Motion state: moving right in frame \n3. Position to viewer: center, slightly right, near the center of the view; side facing observer; the target is partially occluded by the white truck in front, and the rear of the vehicle is visible \n4. Relationship with surrounding objects: a white pickup truck to the right rear of the target, a pedestrian to the left front of the target \n5. Summary: dark green SUV with roof rack, moving right in frame, positioned in the center-right of the view, partially occluded by a white pickup truck to its right rear and a pedestrian to its left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000534/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000534/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.342758178710938,
-2.623276710510254,
-1.1702920198440552,
5.849786758422852,
2.24067759513855,
1.9238075017929077,
7.098565578460693
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.819870539099412,
8.846466922819985,
-0.819785685052715,
0.82387680524249,
0.7701502807796229,
1.748675929570017,
-3.0759840487645063
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999160884020474,
-0.008498413064141317,
-0.009777173934244302,
-96.37790196982269
],
[
0.009278064607030657,
-0.9965333174537155,
-0.08267565979077661,
181.41529771919562
],
[
-0.009040667668762029,
-0.08275943559548786,
0.9965285455761012,
11.865412491426008
],
[
0,
0,
0,
1
]
],
"timestamp": 880
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000534/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
66,
362,
168,
549
],
"bbox_3d": [
11.200851593290068,
5.125066304486885,
-0.879605490544085,
0.8050368927473622,
0.7613468775402568,
1.7188329071123987,
0.07334329991817416,
0.8121026158332825,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: left-center, near the left edge of the view; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a street lamp post to the right of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at the left-center of the view, side profile facing observer, near a street lamp post and another pedestrian to the left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002767/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002767/lidar.bin",
"others": [
{
"bbox_3d_other": [
13.011679649353027,
-5.017607688903809,
-1.698860764503479,
4.666356563568115,
1.9981324672698975,
1.6445647478103638,
6.298165798187256
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.8164393323203,
-5.0414968322240545,
-1.6788808956640486,
4.599010602789201,
1.9942163306889429,
1.671445737389477,
-0.005462989950759688
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.0489559173584,
-10.2964506149292,
-1.8587141036987305,
0.8678981065750122,
0.8361789584159851,
1.7483175992965698,
6.826527118682861
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.215909941668386,
5.865007793036375,
-0.821217622293419,
0.8165893360018376,
0.7657258576289119,
1.7067302404339233,
0.06814510196757104
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.477567409055695,
-10.556516817167147,
-1.9164902214858675,
0.8288675835553766,
0.8102319779337026,
1.7205457148785397,
-2.520373266347419
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9994438234338859,
0.030501537121374517,
0.013479615465172708,
-84.3573065926162
],
[
-0.030691041642296364,
0.999429705775778,
0.014082726151309595,
2.6521480411770058
],
[
-0.013042383323853863,
-0.014488597108600993,
0.9998099703398934,
0.4273234322315086
],
[
0,
0,
0,
1
]
],
"timestamp": 1777
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002767/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
348,
359,
404,
459
],
"bbox_3d": [
22.997650934954294,
5.113440306259854,
-0.785490101960038,
0.8557230213476978,
0.7926583152008556,
1.8120211982891465,
-3.252947250896418,
0.9937780499458313,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing yellow top and dark pants, with a hat\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the center of the view, near the left edge of the crosswalk; side profile facing observer\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white truck to the right of the target, a large building to the left of the target\n5. Summary: person wearing yellow top and dark pants, standing on the crosswalk, side profile facing observer, with a pedestrian to the right front, a white truck to the right, and a large building to the left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002691/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002691/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.606459617614746,
-4.911863803863525,
-0.4807267189025879,
7.625949859619141,
2.8458311557769775,
3.4994213581085205,
6.224430561065674
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.92330651492071,
3.8289981128476427,
-0.9042808864621712,
0.8198569063327268,
0.7665205618539587,
1.7445527831557297,
-0.18999761585733843
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.718448850653715,
-6.981462501430343,
-1.4604975249078258,
0.7439349293708801,
0.7130410075187683,
1.7220886945724487,
-5.290139792065629
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998596954462174,
-0.012117222446581245,
-0.011565567101430837,
-135.00865366451382
],
[
0.013347294966730087,
-0.993505467848956,
-0.11299882774302712,
181.05502892850805
],
[
-0.010121222222080362,
-0.11313734252848297,
0.9935278066497807,
11.629590658606238
],
[
0,
0,
0,
1
]
],
"timestamp": 1150
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002691/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
713,
311,
816,
427
],
"bbox_3d": [
44.330164277069315,
-3.7210316254268374,
-0.0982667288196648,
10.287093630861357,
2.9651031412944677,
3.590792186761787,
-0.025096714004553267,
0.9051029682159424,
1
],
"class": "car",
"description": "1. Appearance: truck, white, with a large rectangular cargo area\n2. Motion state: stationary\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer\n4. Relationship with surrounding objects: a silver car to the left front of the target, a pedestrian to the left of the target\n5. Summary: white truck with a large rectangular cargo area, rear facing observer, located at center-right of the view, stationary, with a silver car to its left front and a pedestrian to its left."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001330/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001330/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.405271354183455,
-6.211151307699623,
-1.4723796555768487,
4.798099537670085,
2.0103499845735664,
1.6549094717706245,
-5.034105073136885
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.863340377807617,
-3.2722787857055664,
-1.3287957906723022,
0.8901324272155762,
0.8340051174163818,
1.808816909790039,
7.567877769470215
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.032601356506348,
-0.9174802899360657,
-1.250510811805725,
0.8644389510154724,
0.820236325263977,
1.8276394605636597,
-4.7310991287231445
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.323435326901503,
0.5166517769666825,
-1.311724791000257,
0.8593786381579447,
0.8058485065502031,
1.7456159072890438,
-1.6207855823440724
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993032470433355,
-0.03595672791246539,
-0.010006706075210661,
-94.5103070314408
],
[
0.03664493914673177,
-0.9961027771354444,
-0.08022721369951552,
181.88219482067993
],
[
-0.0070829996173267665,
-0.08053801028635074,
0.9967263716866012,
11.730184366675209
],
[
0,
0,
0,
1
]
],
"timestamp": 2596
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001330/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1032,
388,
1089,
493
],
"bbox_3d": [
21.056513128161466,
-7.052394926445723,
-1.354716084432976,
0.8487493991851807,
0.8065112829208374,
1.7571827173233032,
-6.334243688524191,
0.9156427383422852,
2
],
"class": "pedestrian",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002381/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002381/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.661348604277125,
2.8944938133557514,
-1.5273157073053798,
4.542468547821045,
1.9499942064285278,
1.6170120239257812,
-6.313144597948019
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.44343276069251,
2.9699782730893673,
-1.5572650651448359,
4.4254282499396,
1.923160819317612,
1.6037203662043396,
-0.028118303709383063
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.89240499794605,
2.620255421164586,
-0.550415011754791,
8.031518783447762,
2.8540373391665126,
3.238324368464147,
0.01717373498681596
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.522741317749023,
-4.760522842407227,
-1.5789259672164917,
0.7926783561706543,
0.7616372108459473,
1.6913822889328003,
4.390510082244873
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998186429572811,
-0.018611530261048805,
0.004036351868091705,
-1.6073741465552391
],
[
0.01827731787281924,
-0.9972974234728154,
-0.07116030344131333,
178.60564537697422
],
[
0.005349845459160962,
-0.07107362433298256,
0.997456725416064,
12.098275560164224
],
[
0,
0,
0,
1
]
],
"timestamp": 600
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002381/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
710,
310,
815,
423
],
"bbox_3d": [
44.965527113362484,
-3.714847914408094,
-0.02515927218515479,
9.869767674215138,
2.9538440428438344,
3.559207460076553,
-0.010705223806763087,
0.7810348272323608,
1
],
"class": "car",
"description": "1. Appearance: truck, white, with a large cargo box\n2. Motion state: moving away from camera\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer; the target is partially occluded by the bright light from the cargo box\n4. Relationship with surrounding objects: a black car to the left front of the target, a pedestrian with a stroller to the right of the target\n5. Summary: white truck with a large cargo box, rear facing observer, moving away from camera, located at center-right near the right edge of the view, partially occluded by bright light, with a black car to its left front and a pedestrian with a stroller to its right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001320/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001320/lidar.bin",
"others": [
{
"bbox_3d_other": [
1.3235594315274994,
2.7649697413964986,
-1.4816361318445876,
4.538413474776452,
1.967684694258729,
1.6501819705324052,
-0.011242249025952944
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.35944652557373,
-5.1400322914123535,
-1.2960457801818848,
0.8365670442581177,
0.8025742173194885,
1.7868071794509888,
3.2530763149261475
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.713529586791992,
6.180529594421387,
-1.0173461437225342,
0.8015199899673462,
0.7529767751693726,
1.698971152305603,
-1.596848487854004
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.608012161316651,
-6.141729813207348,
-1.0824169284102214,
0.8041101033896906,
0.7854265059512224,
1.8828534365377325,
-4.56718635475505
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.757044684541995,
-5.593391471058652,
-1.1373152266619573,
0.7688058763939835,
0.7637539252004205,
1.8847406996716458,
-4.364014183765763
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9992456576989592,
-0.035711632693702804,
-0.015257616462741739,
-93.99059349331974
],
[
0.036799630275090055,
-0.9962537611201003,
-0.0782574639614043,
181.86313402091642
],
[
-0.012405755978204067,
-0.07875990569067408,
0.9968164196451648,
11.731072907376335
],
[
0,
0,
0,
1
]
],
"timestamp": 2556
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001320/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
798,
414,
988,
566
],
"bbox_3d": [
17.227636722460883,
-3.118986435039737,
-1.6409256578552736,
4.619615883994785,
1.9789908363155126,
1.6499889034035276,
-0.044871202961804135,
0.9978935718536377,
1
],
"class": "car",
"description": "1. Appearance: sedan, dark-colored, with illuminated taillights\n2. Motion state: moving away from camera\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer; the target is partially occluded by the foreground car on the right\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white van to the left rear of the target\n5. Summary: dark-colored sedan, rear facing observer, moving away from camera, located at center-right near the right edge of the view, partially occluded by a foreground car on the right, with a pedestrian to the left front and a white van to the left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000287/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000287/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.325681209564209,
-3.005709171295166,
-1.6366606950759888,
4.614161014556885,
1.9869099855422974,
1.6537976264953613,
6.154828071594238
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.709988145775839,
-6.233357306236353,
-1.8240587962590884,
4.509964627329771,
1.9504802847549991,
1.585328089851819,
-0.030366908362095213
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.289177702717694,
11.17111013041586,
-1.0835846968738942,
4.5248866375819965,
1.9539232091643144,
1.6058400326032405,
-1.5868878616835471
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.638322830200195,
-8.383201599121094,
-1.6483162641525269,
0.8281761407852173,
0.8133928775787354,
1.8065649271011353,
1.8550266027450562
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.55513572692871,
7.010350704193115,
-0.9187059998512268,
0.8416067957878113,
0.7841954827308655,
1.8123829364776611,
1.1777255535125732
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.0062308435032140674,
-0.9981400816494871,
-0.06064283959375692,
18.724656402408307
],
[
0.9967515890820465,
-0.0013297266400675856,
-0.08052640243720233,
153.00852302545763
],
[
0.0802959915042714,
-0.06094759414298789,
0.994905997829206,
10.291317687572123
],
[
0,
0,
0,
1
]
],
"timestamp": 424
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000287/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
356,
398,
418,
521
],
"bbox_3d": [
18.686831380004744,
4.011759443674546,
-1.4145972329775862,
0.8350997847812972,
0.8056934800353432,
1.7929656628879578,
0.3359036738670793,
0.9037936925888062,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving toward camera \n3. Position to viewer: center, slightly left; back to observer \n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white car to the left of the target \n5. Summary: person wearing dark clothes and a backpack, walking toward the camera in the center-left of the view, with a pedestrian and a white car nearby"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003002/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003002/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.987010955810547,
5.257679462432861,
-1.3336188793182373,
4.70916748046875,
2.0401885509490967,
1.8192979097366333,
0.9077466726303101
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.642958066112215,
-8.487606794200325,
-2.0473082840559966,
4.564203063717461,
1.9849817676634314,
1.6646964607105614,
-0.16397369083852653
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.137640953063965,
2.559756278991699,
-1.5458465814590454,
0.845000684261322,
0.8010975122451782,
1.7454779148101807,
2.7085494995117188
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.48981475830078,
2.656832456588745,
-1.4946264028549194,
0.8129205703735352,
0.800926923751831,
1.8443546295166016,
6.646956443786621
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.212747263348888,
-9.533698904943243,
-1.8152200923086106,
0.8332868076908672,
0.8059955157483248,
1.7630384709667999,
-4.691829901976424
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.217207105046896,
0.7612100507792974,
-1.6290468897788157,
0.7893491818878043,
0.7824029747281996,
1.7805263742171342,
0.6642129422470329
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.645369029564193,
1.6069652299690809,
-1.6013045681948173,
0.7948476869615986,
0.7830515152484882,
1.761904134926367,
0.31663273152635685
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.220982451297147,
2.214071266322456,
-1.5595725794176927,
0.8126748068373323,
0.791818793016636,
1.7905777570358015,
0.3851196473668237
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.06019202779608923,
-0.9975693137407984,
-0.035105328263775645,
21.055284458711657
],
[
0.9944004091091152,
-0.056866253087779484,
-0.08907331600081447,
165.8231760073137
],
[
0.08686049823377233,
-0.040270256300019146,
0.9954062287850682,
11.123695820826432
],
[
0,
0,
0,
1
]
],
"timestamp": 2318
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003002/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
608,
340,
737,
430
],
"bbox_3d": [
48.30067625431454,
-0.56067780756175,
-0.6231464816280798,
8.460318904589116,
2.7902678841968505,
3.1229243886591473,
0.24982884881236211,
0.5777461528778076,
1
],
"class": "car",
"description": "1. Appearance: car, white, with visible rear lights\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right; rear facing observer\n4. Relationship with surrounding objects: a white truck to the right of the target, a pedestrian to the left front of the target\n5. Summary: white car in the center-right of the view, rear facing observer, moving away from camera, with a white truck to its right and a pedestrian to its left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000637/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000637/lidar.bin",
"others": [
{
"bbox_3d_other": [
41.7861512324709,
-5.936554645109425,
-0.6021522533252335,
9.765957348687852,
2.934029815710389,
3.4542969339696743,
6.207997076985938
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.250807442282635,
-3.5376765595417226,
-1.3971255464049244,
0.8624665746044513,
0.8248514054988222,
1.8519642200578736,
5.144609316947226
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.396032640076143,
2.709899466268439,
-1.3478596289015976,
0.8646811238047717,
0.802177163141276,
1.7894960313052781,
0.8081569176229957
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9992370183236746,
0.039025722677655805,
0.001540837791297892,
-98.31453154140635
],
[
-0.03902366779634718,
-0.9960210592698316,
-0.08011992787517287,
181.37622763483935
],
[
-0.0015920311971587674,
-0.08011892698039126,
0.9967840402896597,
11.841808885987891
],
[
0,
0,
0,
1
]
],
"timestamp": 1084
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000637/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
615,
381,
722,
476
],
"bbox_3d": [
25.377655580300328,
-0.2651507976504714,
-1.198377464290525,
4.474385323811877,
1.9425349092157032,
1.6802855160885617,
-0.0003662766478540469,
0.9731885194778442,
1
],
"class": "car",
"description": "1. Appearance: SUV, light-colored (possibly silver or white), rear lights are on, roof has a visible rack.\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, rear facing observer; the vehicle is positioned in the middle of the road, slightly to the right of the center of the view. The rear of the vehicle is facing the observer, and the brake lights are illuminated, indicating it is stopped. The vehicle is partially occluded by the cyclist in the foreground.\n4. Relationship with surrounding objects: a cyclist is in front of the target, a white truck is to the right rear of the target, and a pedestrian is to the left front of the target.\n5. Summary: A light-colored SUV with its rear lights on is stationary in the center-right of the road, viewed from behind. It is partially occluded by a cyclist in the foreground and is located in front of a white truck and to the right of a pedestrian."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000481/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000481/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.80699434337792,
-4.152628991136993,
-0.09116562827371766,
9.993497172571702,
2.962035460643615,
3.6157961340281974,
-0.022927909593973173
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.985457420349121,
-0.9638411402702332,
-1.252022624015808,
0.9578185081481934,
0.8295364379882812,
1.7833631038665771,
4.26870059967041
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.759397306992838,
3.953217202518857,
-1.1067190532472617,
0.8520649794028857,
0.8015472782161686,
1.8041265070178047,
-3.546929706746186
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998925365904047,
-0.008636827437666318,
-0.011845694687024894,
-96.30474238397098
],
[
0.009586273746114671,
-0.9965376134048826,
-0.08258867007625965,
181.41390344465188
],
[
-0.011091376220775674,
-0.08269335088816203,
0.9965133170672715,
11.86589831007687
],
[
0,
0,
0,
1
]
],
"timestamp": 744
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000481/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
73,
355,
188,
539
],
"bbox_3d": [
12.28703545499753,
5.454161343931096,
-0.8552166749006735,
1.1001541421055603,
0.8477265598894083,
1.8246416832993546,
-0.03127776830572038,
0.7938631772994995,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, riding a bicycle\n2. Motion state: moving left in frame\n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by the green bounding box; side profile facing observer\n4. Relationship with surrounding objects: a person on a bicycle to the left of the target, a tree to the right of the target\n5. Summary: person riding a bicycle, wearing dark clothes, located at the left-center of the view, moving left in frame, with a tree to the right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001990/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001990/lidar.bin",
"others": [
{
"bbox_3d_other": [
3.166812737022468,
-5.102705794500183,
-1.6188573282070253,
4.349722706067671,
1.9277882427007142,
1.6804184341380817,
-0.34629094144795025
],
"class_other": "Car"
}
],
"pose": [
[
0.01518516916751117,
-0.998953857908291,
-0.04313467755178167,
17.22780150897049
],
[
0.9977730519441887,
0.01794118498423719,
-0.0642421255512361,
88.62052158206595
],
[
0.06494880638882802,
-0.04206309132129367,
0.9970016794856282,
5.70988248516493
],
[
0,
0,
0,
1
]
],
"timestamp": 184
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001990/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
701,
379,
935,
505
],
"bbox_3d": [
22.574097061658534,
-3.1340164091419584,
-1.27337224226536,
5.362699480825822,
2.191177963865492,
1.929477024161554,
-0.5595046565101298,
0.9958178997039795,
1
],
"class": "car",
"description": "1. Appearance: pickup truck, dark color, with visible rear lights and bed\n2. Motion state: moving right in frame\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer, side facing observer; partially occluded by the car in front, rear of the truck is visible\n4. Relationship with surrounding objects: a black sedan to the right front of the target, a white car further ahead on the left side of the road, a stop sign to the left of the target\n5. Summary: dark pickup truck, rear facing observer, moving right in frame, located at center-right near the right edge of the view, partially occluded by a black sedan to its right front and a white car ahead on the left, with a stop sign to its left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001869/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001869/lidar.bin",
"others": [
{
"bbox_3d_other": [
11.508309136429972,
-3.9642463850666347,
-1.6728274649699053,
4.500176077863099,
1.9477350705131808,
1.6105330139591771,
0.06900320785825804
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.284058024718433,
-4.356163174741757,
-1.5728202781458422,
4.66024744585247,
1.9974752842803793,
1.70476245924643,
0.11509998972234617
],
"class_other": "Car"
}
],
"pose": [
[
0.9955275470891016,
0.09184385459898485,
0.022127118184649762,
-147.5474009473006
],
[
-0.09204784494136768,
0.9957193073190238,
0.008381841908182062,
6.507057568125569
],
[
-0.021262578122298884,
-0.010381108058601079,
0.9997200284915119,
1.3325054019615756
],
[
0,
0,
0,
1
]
],
"timestamp": 3416
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001869/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
138,
377,
227,
551
],
"bbox_3d": [
12.663883334618248,
5.0149096628428005,
-1.0569344650536188,
0.8290538060716482,
0.7850344553169922,
1.78644703124045,
-4.178164629973314,
0.9471688270568848,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and light-colored pants, with a bag\n2. Motion state: moving left in frame\n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a pole on the left; side profile facing observer\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white car to the right rear of the target\n5. Summary: person wearing dark top and light pants, carrying a bag, walking on the left side of the street, moving left in frame, with a pedestrian and a white car nearby."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002480/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002480/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.5634651184082,
-4.168275356292725,
-0.07554065436124802,
9.84656810760498,
2.925044059753418,
3.5432260036468506,
6.244683742523193
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.297663456599707,
-0.26869006314854005,
-1.2512997570135784,
4.521883026118675,
1.9533302755817192,
1.6825674982935426,
-0.001270828845669314
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.046102441254774,
-3.6777706677386277,
-1.3676620004015998,
1.0116215049590145,
0.8283808688371989,
1.758975319811013,
-1.6853902167965946
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.999921560544155,
-0.00854344835296388,
-0.009158725303340005,
-96.3812618484091
],
[
0.009273117223547777,
-0.9965200470677679,
-0.08283601323707043,
181.41438982586155
],
[
-0.008419148169508794,
-0.0829144455586239,
0.9965211049756076,
11.866754096180706
],
[
0,
0,
0,
1
]
],
"timestamp": 756
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002480/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
474,
361,
592,
467
],
"bbox_3d": [
28.99114019764539,
2.6465452457476957,
-1.01939463330209,
5.167101137099728,
2.2184350516206472,
2.2188951789691886,
-0.0004057663404215539,
0.8882502913475037,
1
],
"class": "car",
"description": "1. Appearance: white van, with visible side windows and rear door\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the middle of the view; side facing observer, rear facing observer\n4. Relationship with surrounding objects: a large white truck to the left front of the target, a black car to the left rear of the target, a pedestrian to the right front of the target\n5. Summary: white van, stationary, located in the center-right of the view, side and rear facing observer, positioned between a large white truck on the left and a pedestrian on the right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000372/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000372/lidar.bin",
"others": [
{
"bbox_3d_other": [
15.432283709791172,
2.8983214399976873,
-0.5257114139681861,
8.103316694299494,
2.8782028302602383,
3.2615818105401186,
0.01632562932109094
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.940460059512695,
3.170525797464677,
-1.514848845843063,
4.4254282499396,
1.923160819317612,
1.6037203662043396,
-0.016185345014975816
],
"class_other": "Car"
},
{
"bbox_3d_other": [
-0.7643712501567421,
2.9645288256221534,
-1.5067158880576135,
4.508351587285346,
1.9613896065553615,
1.654791257025499,
-0.022061730461357953
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.20281408617386,
2.901110570262034,
-1.4367867719411676,
4.798642643820691,
2.0619542151252546,
1.7686392106625024,
0.010637900002020917
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.932967185974121,
-6.633078098297119,
-1.1284761428833008,
0.8865897059440613,
0.8280559182167053,
1.8582347631454468,
-6.380266189575195
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.480871208176328,
-7.507825390716846,
-0.9655210163288898,
0.8092071440524882,
0.7761092039493602,
1.7695145779349013,
0.016584496552772166
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.513437397063726,
9.123699874528654,
-0.9926151878485047,
0.8748474219069108,
0.8200016461726939,
1.8568799134435157,
-0.23993240232790702
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9995178509639495,
-0.03063263988246421,
0.00507020495044615,
-12.066687451645393
],
[
0.03020618014420022,
-0.9971191026432829,
-0.06957788315945387,
178.94353311716281
],
[
0.007186952449014117,
-0.0693911847260569,
0.997563637667698,
12.11216172119255
],
[
0,
0,
0,
1
]
],
"timestamp": 614
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000372/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
711,
405,
859,
534
],
"bbox_3d": [
19.301509813378694,
-1.863859082282147,
-1.5287528695052837,
4.610199311794668,
1.9614160885799328,
1.6004670756826564,
-0.03673327391306147,
0.9959110021591187,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible rear lights and license plate area\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right, rear facing observer; the target is partially occluded by the green bounding box and appears slightly blurred\n4. Relationship with surrounding objects: a yellow taxi to the right front of the target, a black SUV to the right rear, a white car to the left front, and a speed limit sign to the left\n5. Summary: dark-colored car, rear facing observer, moving away from camera, located in the center-right of the view, partially occluded, with a yellow taxi to its right front and a black SUV to its right rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001811/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001811/lidar.bin",
"others": [
{
"bbox_3d_other": [
40.90750503540039,
12.503179550170898,
-0.9852526783943176,
4.6979217529296875,
2.0121450424194336,
1.7339081764221191,
-4.971980571746826
],
"class_other": "Car"
},
{
"bbox_3d_other": [
30.254353448861927,
-5.900472791666999,
-1.5889772968003113,
4.516380172456565,
1.9888152327111284,
1.7580386765462306,
-0.007564543401278989
],
"class_other": "Car"
},
{
"bbox_3d_other": [
35.96979083026544,
2.2754651593156154,
-1.3799192463411218,
4.810493860862106,
2.0627623221751645,
1.8054648355470768,
0.4974730792356956
],
"class_other": "Car"
},
{
"bbox_3d_other": [
46.411354281879596,
17.36756810110242,
-0.6711899417647018,
4.5797624588012695,
1.9804565906524658,
1.6680364608764648,
-4.654724192291146
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.703722882583286,
-5.037948126053266,
-1.5779158789525702,
4.7027071618335325,
1.9914407909610423,
1.6601400414009784,
-0.060227061289222616
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.59118432630903,
-5.409645839256967,
-1.5096097825952057,
4.54661960853495,
1.9860887935023268,
1.7189446995665625,
-0.12538903771179166
],
"class_other": "Car"
}
],
"pose": [
[
-0.03325717800084593,
0.9984853551027961,
0.04382870927444098,
-162.6666345141614
],
[
-0.9979297216826624,
-0.030759416756746205,
-0.05648122575820203,
46.52479083390286
],
[
-0.05504753122333675,
-0.04561637782669969,
0.9974411839202288,
3.6250333171593496
],
[
0,
0,
0,
1
]
],
"timestamp": 3320
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001811/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
637,
428,
912,
681
],
"bbox_3d": [
11.154680326415573,
-1.0490726344375148,
-1.5478457841645286,
4.46648198064674,
1.9366746382567162,
1.6225881413658294,
-0.10060516966137767,
0.9952183961868286,
1
],
"class": "car",
"description": "1. Appearance: car, black, with illuminated taillights\n2. Motion state: stationary\n3. Position to viewer: bottom-center, slightly right, rear facing observer\n4. Relationship with surrounding objects: a white van to the left front of the target, a silver car to the right of the target\n5. Summary: black car, rear facing observer, stationary in the bottom-center of the view, with illuminated taillights, located between a white van on the left and a silver car on the right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001088/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001088/lidar.bin",
"others": [
{
"bbox_3d_other": [
16.515920639038086,
-5.687781810760498,
-1.5434439182281494,
4.454645156860352,
1.9686458110809326,
1.761110782623291,
5.893044948577881
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.18685212302552,
-2.756575328517899,
-0.7287457145805758,
8.065225583709907,
2.806375940964913,
3.1234919960913268,
-0.08126588796840961
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.807438455121428,
-5.976929255254666,
-1.7133488506470258,
4.453873767053001,
1.9447021373713502,
1.6155928100027377,
-0.08445131290941776
],
"class_other": "Car"
},
{
"bbox_3d_other": [
42.814012094005534,
11.524478548535834,
-1.119245971070962,
4.564728897342496,
1.968778757575096,
1.6255033935422827,
1.5727974075537023
],
"class_other": "Car"
}
],
"pose": [
[
0.03469093291338904,
-0.9980960702074608,
-0.0509977824029857,
18.82246334619434
],
[
0.9968559272447721,
0.0381949477793167,
-0.06942194380093941,
130.75084130490026
],
[
0.0712376269296238,
-0.048429129669639984,
0.9962830019170643,
8.54212471939734
],
[
0,
0,
0,
1
]
],
"timestamp": 2224
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001088/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
488,
389,
557,
532
],
"bbox_3d": [
16.354683400225895,
1.7028458920906586,
-1.2436174405312457,
1.0263231099485914,
0.8417107311435534,
1.7735388795720666,
-6.187237986653724,
0.9123176336288452,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, riding a bicycle\n2. Motion state: moving left in frame\n3. Position to viewer: center, slightly right; side profile facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the right\n5. Summary: person riding a bicycle, wearing dark clothes, moving left in frame, side profile facing observer, located in the center-right of the view, with a pedestrian to the left front and a white car to the right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003288/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003288/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.2658419449881,
-3.6993900056653786,
0.025121610930227023,
9.692060338623056,
2.896344481329986,
3.468732830575124,
-0.016308520646444613
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.056152561914573,
-1.9778664795336738,
-1.4283308178299574,
4.6756686618199375,
1.986466167104796,
1.644990527655992,
-5.805162866291022
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.248443603515625,
4.772657871246338,
-1.1256766319274902,
0.8333262801170349,
0.7873273491859436,
1.7299152612686157,
-4.695387840270996
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.565954836247883,
3.1136384616694954,
-1.1782655102372357,
0.8186688559473767,
0.7832657810930718,
1.8048213234992545,
-4.54841091947338
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.999305623328348,
-0.03587731859518975,
-0.01005431224705847,
-94.50968678260337
],
[
0.03656983763856872,
-0.996103072082296,
-0.08025781434415699,
181.88252819875373
],
[
-0.0071356961419906835,
-0.08056976975660102,
0.9967234290624143,
11.730243739929366
],
[
0,
0,
0,
1
]
],
"timestamp": 2689
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003288/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
416,
381,
492,
498
],
"bbox_3d": [
19.58981976323477,
3.1100516353269234,
-1.1534085032572463,
0.8584498460463785,
0.8020156009574531,
1.7564012859823492,
-3.651259892538685,
0.9755704998970032,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by a bicycle in front; side profile facing observer \n4. Relationship with surrounding objects: a bicycle to the right front of the target, a white car to the right rear of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame at center-left, partially occluded by a bicycle, with a white car to the right rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002472/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002472/lidar.bin",
"others": [
{
"bbox_3d_other": [
47.3484352166481,
-4.091053934888208,
0.07482313578405875,
9.075324696375983,
2.8970139748991968,
3.5344884646464854,
-0.027307870119344102
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.5562216373113387,
2.739384569934799,
-1.489783957157228,
4.531578640323024,
1.9514121033686918,
1.6251723581915052,
-0.04288792784544615
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.177404403686523,
2.224403142929077,
-1.2109328508377075,
0.8995344638824463,
0.8144477009773254,
1.7499878406524658,
-1.954375982284546
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.785147666931152,
-4.636375427246094,
-1.2668781280517578,
0.7822584509849548,
0.7771018147468567,
1.8343673944473267,
-3.672779083251953
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.049862221505435,
-2.922983996903895,
-1.2555580349103008,
0.8525835782151532,
0.8047553733798816,
1.807224568628778,
-2.3606101662035575
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.301942150081786,
-4.9195682865438926,
-1.2219120989542376,
0.8023827883632062,
0.7844121238964984,
1.8244932029218046,
-3.4355687407254596
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998789686457678,
-0.009701514599689105,
-0.012162593241091906,
-93.20829709473786
],
[
0.010633357777005272,
-0.9968138498180373,
-0.07905112594599739,
181.36566118196168
],
[
-0.011356925739936706,
-0.07917088748659926,
0.9967963637635935,
11.877516177692817
],
[
0,
0,
0,
1
]
],
"timestamp": 724
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002472/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
550,
390,
674,
602
],
"bbox_3d": [
11.546342378413343,
0.388482749581307,
-1.2144769612470565,
0.8181038643971859,
0.7900406446972781,
1.8298518348203352,
-5.234257735275549,
0.9687333106994629,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing black top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: center, slightly right; side profile facing observer \n4. Relationship with surrounding objects: a white car to the right front of the target, a pedestrian with a stroller to the left front of the target \n5. Summary: person wearing black top and dark pants with a backpack, moving left in frame, located at center-right of the view, side profile facing observer, with a white car to the right front and a pedestrian with a stroller to the left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003262/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003262/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.180247381379175,
-3.785321570214734,
-0.05800525711493032,
10.274865621565999,
2.9691239046184132,
3.565868438699221,
-0.022570760231104714
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.93566717484113,
-3.3920362780702646,
-1.2712211478868234,
4.889592035623011,
2.059258406229206,
1.7786789611691232,
-5.4989907702602965
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.834810733795166,
1.525475263595581,
-1.197177529335022,
0.9918633103370667,
0.8437777161598206,
1.8026952743530273,
6.2236738204956055
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.141823768615723,
1.5258889198303223,
-1.25654137134552,
0.854634165763855,
0.8018406629562378,
1.7623480558395386,
1.1328433752059937
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.318470001220703,
6.578314781188965,
-0.96644127368927,
0.8413567543029785,
0.7837397456169128,
1.8185811042785645,
1.3395233154296875
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993078547944352,
-0.03582185095270643,
-0.010030271206014556,
-94.50649981225509
],
[
0.036512666606754327,
-0.9961045378974058,
-0.08026565116822909,
181.88247303939372
],
[
-0.007115934471882555,
-0.08057632763112199,
0.9967230402183317,
11.730570326021938
],
[
0,
0,
0,
1
]
],
"timestamp": 2648
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003262/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
41,
368,
246,
443
],
"bbox_3d": [
26.948403005258786,
11.68896666439277,
-0.8317720120500649,
4.604229677552255,
1.960957726661827,
1.610365498983182,
1.545886388488268,
0.9326151609420776,
1
],
"class": "car",
"description": "1. Appearance: car, black, with visible rear lights\n2. Motion state: stationary\n3. Position to viewer: left-center, slightly left, near the left edge of the view; rear facing observer, side facing observer; partially occluded by a pole on the left\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white car to the right\n5. Summary: black car, rear facing observer, stationary, located at left-center near a pole, partially occluded, with a pedestrian and a white car nearby"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000226/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000226/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.298429489135742,
-2.486560583114624,
-1.5519883632659912,
4.852585315704346,
2.025195360183716,
1.635282278060913,
6.252986907958984
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.185455799102783,
-2.1430962085723877,
-1.5113109350204468,
4.505107402801514,
1.9404691457748413,
1.6049940586090088,
6.11561918258667
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.204724341916346,
-6.192487142834597,
-1.808539952975789,
4.394205498189175,
1.9221563818244185,
1.5796622059617813,
-0.07541550571872468
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.407700464069762,
-5.954395768377946,
-1.6274915103082446,
4.631823107706085,
2.0007629021949502,
1.7068706564400822,
-0.004865727162231215
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.60786247253418,
1.1171993017196655,
-1.1977300643920898,
0.8214247226715088,
0.7838617563247681,
1.7633638381958008,
2.045384168624878
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.965778350830078,
0.783699631690979,
-1.2076239585876465,
0.8391985297203064,
0.7938560843467712,
1.7632027864456177,
2.1375269889831543
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.170951843261719,
6.49614953994751,
-0.6535388827323914,
0.829746425151825,
0.7823763489723206,
1.7827017307281494,
2.0908656120300293
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.72986888885498,
7.8397932052612305,
-0.5583235025405884,
0.7662495970726013,
0.7451686859130859,
1.808100700378418,
3.735318660736084
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.93258517636849,
-4.072559154085699,
-1.2793457950113214,
0.8646536366307498,
0.8149144652202612,
1.7836943593160401,
-4.4310642978893995
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.707362711147567,
6.666639452880377,
-0.5982940091204587,
0.7784459573497101,
0.7561793095738097,
1.845580054591629,
0.9494008189366254
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.06180527042045,
10.324251305672917,
-0.5614998457287652,
0.7929598677648256,
0.7460503286150493,
1.750976377861685,
-2.377353491132143
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.732145263173948,
3.3774351038263024,
-0.925471110561197,
0.9154672467839177,
0.8274810455961034,
1.7985254001915922,
0.19740764651363207
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.0024451893418859783,
-0.9977247899837013,
-0.06737406400879449,
18.725472395494336
],
[
0.9973532695295838,
0.0024627093886981366,
-0.07266629769787321,
148.42566160694892
],
[
0.07266688934949288,
-0.06737342587731181,
0.9950780595902127,
9.970700317641132
],
[
0,
0,
0,
1
]
],
"timestamp": 340
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000226/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
657,
320,
805,
492
],
"bbox_3d": [
30.669713874174118,
-1.8325086780531876,
-0.8421712255730167,
10.577465382369832,
2.9559705770132947,
3.439920895026073,
-0.052178253917097406,
0.5345122814178467,
1
],
"class": "car",
"description": "1. Appearance: bus, white, with rear display showing \"37\" and \"MTRO\"\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the center of the view; rear facing observer; cannot clearly determine\n4. Relationship with surrounding objects: a red car to the left front of the target, a white car to the left rear of the target, a bicycle to the left of the target\n5. Summary: white bus, rear facing observer, stationary, located in the center-right of the view, with a red car and a white car to its left, and a bicycle to its left front."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000758/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000758/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.522842407226562,
-5.748683452606201,
-1.889514684677124,
4.561071395874023,
1.9865543842315674,
1.6614831686019897,
6.249098777770996
],
"class_other": "Car"
}
],
"pose": [
[
-0.02824534407806356,
0.9980642400176963,
0.05540734008965184,
-158.28797623923657
],
[
-0.9982874947877544,
-0.025324203682836388,
-0.05273293523235454,
110.98496249208488
],
[
-0.0512277101606278,
-0.05680191463083573,
0.9970703406510345,
7.19527244944241
],
[
0,
0,
0,
1
]
],
"timestamp": 1416
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000758/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1144,
406,
1210,
526
],
"bbox_3d": [
18.05247892758552,
-8.048596915001212,
-1.6153252437190098,
0.8419490737867722,
0.8067962876322263,
1.764954236400993,
-3.2055280996258375,
0.9562680125236511,
2
],
"class": "pedestrian",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002248/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002248/lidar.bin",
"others": [
{
"bbox_3d_other": [
23.088350296020508,
-2.3952975273132324,
-1.6433054208755493,
4.523721218109131,
1.9606540203094482,
1.6289829015731812,
6.337153434753418
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.79475212097168,
-5.60172700881958,
-1.80607271194458,
4.541171073913574,
1.954188346862793,
1.5917845964431763,
6.240315914154053
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.099457227158496,
-2.875849409777583,
-1.644709485217351,
4.564891073918438,
1.9528387269002607,
1.5981869606728507,
-0.01630346337247457
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.766433715820312,
1.3894178867340088,
-1.3804261684417725,
0.8180539011955261,
0.7783007025718689,
1.7064614295959473,
-9.625736236572266
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.728753952476751,
-7.389783331745296,
-1.605218756993136,
0.7856027001783398,
0.7798859902459978,
1.8026772109599507,
-3.412630238651593
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.04748399996388386,
-0.9972718246949931,
-0.05651705421329777,
18.8632083092
],
[
0.9956549580754842,
0.05179265647110498,
-0.07738685415089502,
155.5864593664818
],
[
0.08010289762009652,
-0.052596847863584685,
0.9953979593045584,
10.482790335928172
],
[
0,
0,
0,
1
]
],
"timestamp": 440
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002248/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
14,
337,
80,
481
],
"bbox_3d": [
14.72986807975444,
7.839793640651397,
-0.5583233354411181,
0.7655350300396753,
0.7455115087056872,
1.8069562295851107,
-2.4297693557056594,
0.9038591980934143,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing black top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: top-left, near the left edge of the view, partially occluded by a tree trunk; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a tree trunk to the left of the target \n5. Summary: A person wearing a black top and dark pants with a backpack, seen from the side profile, is moving left in the frame near the left edge of the view, partially blocked by a tree trunk, with another pedestrian to their right front."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002100/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002100/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.298429489135742,
-2.486560583114624,
-1.5519883632659912,
4.852585315704346,
2.025195360183716,
1.635282278060913,
6.252986907958984
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.185455799102783,
-2.1430962085723877,
-1.5113109350204468,
4.505107402801514,
1.9404691457748413,
1.6049940586090088,
6.11561918258667
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.204724341916346,
-6.192487142834597,
-1.808539952975789,
4.394205498189175,
1.9221563818244185,
1.5796622059617813,
-0.07541550571872468
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.407700464069762,
-5.954395768377946,
-1.6274915103082446,
4.631823107706085,
2.0007629021949502,
1.7068706564400822,
-0.004865727162231215
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.91127237011591,
11.587821333364031,
-0.8204910688995324,
4.538718794911309,
1.9529452784146144,
1.603453985864734,
1.5136503917887136
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.60786247253418,
1.1171993017196655,
-1.1977300643920898,
0.8214247226715088,
0.7838617563247681,
1.7633638381958008,
2.045384168624878
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.965778350830078,
0.783699631690979,
-1.2076239585876465,
0.8391985297203064,
0.7938560843467712,
1.7632027864456177,
2.1375269889831543
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.170951843261719,
6.49614953994751,
-0.6535388827323914,
0.829746425151825,
0.7823763489723206,
1.7827017307281494,
2.0908656120300293
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.93258517636849,
-4.072559154085699,
-1.2793457950113214,
0.8646536366307498,
0.8149144652202612,
1.7836943593160401,
-4.4310642978893995
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.707362711147567,
6.666639452880377,
-0.5982940091204587,
0.7784459573497101,
0.7561793095738097,
1.845580054591629,
0.9494008189366254
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.06180527042045,
10.324251305672917,
-0.5614998457287652,
0.7929598677648256,
0.7460503286150493,
1.750976377861685,
-2.377353491132143
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.732145263173948,
3.3774351038263024,
-0.925471110561197,
0.9154672467839177,
0.8274810455961034,
1.7985254001915922,
0.19740764651363207
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.0024451893418859783,
-0.9977247899837013,
-0.06737406400879449,
18.725472395494336
],
[
0.9973532695295838,
0.0024627093886981366,
-0.07266629769787321,
148.42566160694892
],
[
0.07266688934949288,
-0.06737342587731181,
0.9950780595902127,
9.970700317641132
],
[
0,
0,
0,
1
]
],
"timestamp": 340
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002100/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
241,
346,
282,
449
],
"bbox_3d": [
22.112096298244595,
7.111178507741656,
-0.5640571307233806,
0.7748964562250729,
0.74720196948935,
1.828862404724291,
-2.831406623254959,
0.9452387690544128,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: left-center, near the left edge of the view; side profile facing observer \n4. Relationship with surrounding objects: a tree to the right of the target, a pedestrian to the left front of the target, a white car to the right rear of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at left-center near the left edge of the view, side profile facing observer, with a tree to the right and a pedestrian to the left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002005/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002005/lidar.bin",
"others": [
{
"bbox_3d_other": [
13.280603408813477,
-5.637725353240967,
-1.5901106595993042,
4.485626697540283,
1.9410048723220825,
1.6207507848739624,
6.216679573059082
],
"class_other": "Car"
},
{
"bbox_3d_other": [
41.49211883544922,
-6.58187198638916,
-1.4274497032165527,
4.492767810821533,
1.955980896949768,
1.6148370504379272,
-2.2218525409698486
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.801085640000764,
-2.0085266432585733,
-1.405189236333984,
4.602124551553969,
1.9634440495001695,
1.634063115218908,
-0.11772142167262767
],
"class_other": "Car"
},
{
"bbox_3d_other": [
34.37603668773332,
12.776898300555862,
-0.7889557650163542,
4.6184261966978255,
1.9759229411053325,
1.591775607727801,
-1.6320298789993184
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.80838463373223,
-2.2607756911212284,
-1.3812175050886344,
4.591741174682818,
1.975618363872152,
1.6632308622000755,
-0.004967284720672538
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.243793898527656,
-5.698301820903289,
-1.4106537372681287,
4.593879925442255,
2.0170999357106085,
1.8206538877584089,
0.038617455475328466
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.302902016160232,
-5.510416169359843,
-1.5007821918261333,
4.475165541020748,
1.9688241674990763,
1.7246952663095898,
-0.41935945691901244
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.999146156512126,
-9.701850009238893,
-1.5179495271984518,
0.8551848053513539,
0.8229740742471411,
1.8049875028589921,
-0.13561692816991733
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.020026053579081105,
-0.9986301192832001,
-0.04834089405947566,
18.64412931870715
],
[
0.9975215953489791,
0.023219004255600584,
-0.06641945990299868,
141.80529785814008
],
[
0.06745090059054379,
-0.046890966100093065,
0.9966200947741947,
9.510389728582181
],
[
0,
0,
0,
1
]
],
"timestamp": 262
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002005/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
855,
450,
1279,
799
],
"bbox_3d": [
5.994307641126657,
-1.9903466077737946,
-1.4723371456178942,
4.56504983903945,
1.9510927441047392,
1.600693645752808,
-0.13741138465764613,
0.9894368052482605,
1
],
"class": "car",
"description": "1. Appearance: sedan, dark-colored, with visible rear taillight and side mirror\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, side facing observer; partially occluded by the frame, rear window and side are visible\n4. Relationship with surrounding objects: a black sedan is in front of the target, a white car is to the left of the target, a pedestrian is crossing the street in front of the target\n5. Summary: dark-colored sedan in the bottom-right corner, rear facing observer, partially occluded, with a black sedan in front and a white car to the left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000065/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000065/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.359403415803797,
-5.738980035650137,
-1.478950168881436,
4.503343231441003,
1.9584895629533519,
1.6729258671655156,
-0.11785322114774566
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.153581081472879,
-2.439124006166793,
-1.4257678065220982,
4.666372483955352,
1.9675926789797917,
1.6123719413980022,
-0.012247317627174237
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.895700845834,
11.821488005839397,
-0.6202954515240011,
4.592311208895965,
1.9742892936868517,
1.6303647817701503,
1.5375562630518365
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.205777752641097,
-6.06007733729226,
-1.6734703811854124,
4.367756258887283,
1.904442400927538,
1.5691546789731556,
-0.015665644791729827
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.561017036437988,
7.898429870605469,
-0.4001694321632385,
0.7854328751564026,
0.756982684135437,
1.798682451248169,
7.284280776977539
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.772388458251953,
-0.1580856591463089,
-1.1316429376602173,
0.8513073921203613,
0.7975791096687317,
1.7388054132461548,
8.41558837890625
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.558483691841872,
6.797078422237073,
-0.4175545070298279,
0.8056975257564337,
0.7725943024947096,
1.8562977020478433,
0.8402483971921708
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.27872709795966,
5.046152288717131,
-0.6596360902237199,
0.9049768179991744,
0.8037146984968769,
1.7616398464486387,
-3.1590295846200256
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0013679655907768984,
-0.9977327809369066,
-0.0672861539549482,
18.71580458872608
],
[
0.9978309127670401,
0.005790344468650344,
-0.06557393870609063,
147.61744923724646
],
[
0.06581487823158387,
-0.0670505015256479,
0.9955765324918626,
9.91566298933167
],
[
0,
0,
0,
1
]
],
"timestamp": 294
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000065/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
184,
371,
334,
438
],
"bbox_3d": [
33.666026429551266,
10.831058959042977,
-0.9552034965410781,
4.651170533211505,
2.0063931927329204,
1.7242240778735427,
-0.2942979146775462,
0.9161614179611206,
1
],
"class": "car",
"description": "1. Appearance: car, white, with visible roof and side windows\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the view center, partially occluded by a black car in front; rear facing observer\n4. Relationship with surrounding objects: a black car to the right front of the target, a white van to the left front of the target\n5. Summary: white car, rear facing observer, located at center-left of the view, partially occluded by a black car in front, with a white van to its left front and a black car to its right front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001859/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001859/lidar.bin",
"others": [
{
"bbox_3d_other": [
15.448423385620117,
1.9480693340301514,
-1.3352398872375488,
4.618242263793945,
1.9764264822006226,
1.7132377624511719,
-5.607852458953857
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.16761148462544,
6.537114020613075,
-1.2954569391803639,
4.436595295242146,
1.9185194869065145,
1.6060722105544873,
0.6742718485746887
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.421874637818433,
11.912963609654469,
-0.7091686204948098,
5.199994168962752,
2.167039132118225,
1.9995641946792602,
0.5346095599484222
],
"class_other": "Car"
}
],
"pose": [
[
0.8183395701348226,
0.5737852075356631,
0.03302852653101799,
-157.30613269258495
],
[
-0.5734582378728352,
0.8190006418989682,
-0.01958565763157711,
9.227588324928021
],
[
-0.038288345058737745,
-0.0029127619769811434,
0.9992624872626455,
1.5998924395231848
],
[
0,
0,
0,
1
]
],
"timestamp": 3398
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001859/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1144,
445,
1279,
779
],
"bbox_3d": [
8.082188835856924,
-5.216675570451002,
-1.644272040593668,
4.558790404956747,
1.9628385866257216,
1.5919817437507582,
-0.039357015658296524,
0.7957907319068909,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, with visible rear wheel and side profile\n2. Motion state: moving right in frame\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; side facing observer, rear facing observer; partially occluded by the right edge of the view\n4. Relationship with surrounding objects: a dark car in the center of the view, a pedestrian to the left of the target\n5. Summary: dark car, rear facing observer, moving right in frame, partially occluded by the right edge of the view, located at the bottom-right of the view, with a pedestrian to the left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001801/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001801/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.19205379486084,
-1.3648879528045654,
-1.4606305360794067,
4.4770121574401855,
1.9147193431854248,
1.5631290674209595,
6.2332353591918945
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.236809730529785,
5.2381672859191895,
-1.0062843561172485,
0.7576189637184143,
0.7428121566772461,
1.7824479341506958,
4.004395961761475
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.03755696924726021,
0.9969471197733265,
0.068453739391134,
-163.78923338125358
],
[
-0.9979363348672453,
-0.033847571991605874,
-0.054565679891325644,
25.174058970874576
],
[
-0.052082104533994374,
-0.07036179535758018,
0.996160966983433,
2.4879627760163774
],
[
0,
0,
0,
1
]
],
"timestamp": 3360
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001801/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
814,
387,
941,
470
],
"bbox_3d": [
28.884540504710266,
-5.066522248256149,
-1.4206547101488871,
4.474965628977001,
1.9461963856836928,
1.6862330692714094,
0.06189667084541739,
0.9914729595184326,
1
],
"class": "car",
"description": "1. Appearance: car, white, with roof rack\n2. Motion state: stationary\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a red car to the left front of the target, a white car to the left rear of the target\n5. Summary: white car with roof rack, stationary, located in the center-right of the view, rear facing observer, with a red car to its left front and a white car to its left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001674/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001674/lidar.bin",
"others": [
{
"bbox_3d_other": [
56.56903926740317,
-2.4088560734953717,
0.3891976768623788,
12.652916958227475,
3.0504248822252746,
3.4219201474458103,
0.4881500766612006
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.98873004812164,
-5.147022821240881,
-1.4150032785587285,
4.497301084559245,
1.980531822587473,
1.8171416258050246,
0.05973800595085699
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.310669431228078,
-5.076206778441303,
-1.6101672288234035,
4.4276280277464934,
1.9076407402943065,
1.5684354713839364,
0.008468265348226423
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.560158306018693,
-1.0600268627630385,
-1.0332989147988716,
5.2911510916942035,
2.164955296515255,
1.9360246698481596,
0.00914150494697541
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.2350484291227,
-0.9395965237479231,
-1.401935969737666,
4.506947149411442,
1.923282475172386,
1.5803287579134329,
-0.007456960809743229
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.631948471069336,
7.835411071777344,
-0.646828830242157,
0.8209453821182251,
0.7579750418663025,
1.7099601030349731,
-2.9929990768432617
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
22.002459954082383,
-10.28778988624066,
-0.9048947058861643,
0.7431745223005237,
0.7461933650596358,
1.921000130763531,
3.0222038454156985
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.0602573663185878,
0.9965811270248972,
0.056525278080991496,
-158.67713996524824
],
[
-0.9961321799716687,
-0.05640905687769082,
-0.06736986215705432,
104.43625038053787
],
[
-0.0639509955296912,
-0.06036617894115323,
0.9961255917858983,
6.768743222771036
],
[
0,
0,
0,
1
]
],
"timestamp": 3136
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001674/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
675,
264,
1279,
535
],
"bbox_3d": [
18.29244834071082,
-4.795374705923915,
-0.5226712346724849,
9.388810157775879,
2.9583170413970947,
3.3230926990509033,
0.8239781825880748,
0.6516672968864441,
1
],
"class": "car",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000585/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000585/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.530912399291992,
6.864602565765381,
-0.9372848272323608,
0.8163658380508423,
0.7727609276771545,
1.7622613906860352,
3.26507568359375
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.56210994720459,
2.787135362625122,
-1.252498745918274,
0.8161360025405884,
0.7797528505325317,
1.7537108659744263,
4.33233118057251
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.676308631896973,
-2.399458646774292,
-1.4186670780181885,
0.8250465393066406,
0.7865436673164368,
1.7214512825012207,
1.5419166088104248
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.30039663967304,
7.633046752366425,
-0.9214665710859462,
0.7996888756752014,
0.7557411789894104,
1.7384687662124634,
3.2774622409682017
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.416278976784369,
-2.082625610589247,
-1.35685656446358,
0.8416826128959656,
0.7993691563606262,
1.7553503513336182,
1.4246628253798228
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999177477877611,
-0.008433533825167061,
-0.009662979161312658,
-96.37128613539076
],
[
0.0092042768549117,
-0.9965310077111172,
-0.08271174014518173,
181.4145678322901
],
[
-0.008931906102861606,
-0.08279387765702059,
0.9965266654113599,
11.865275690664252
],
[
0,
0,
0,
1
]
],
"timestamp": 1000
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000585/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
967,
419,
1178,
555
],
"bbox_3d": [
17.926015629120602,
-6.04770561668904,
-1.7514255674771029,
4.411190693495703,
1.92394869591369,
1.5816318666348692,
-0.008268989236322355,
0.984122097492218,
1
],
"class": "car",
"description": "1. Appearance: car, dark blue, with visible rear lights and a rear windshield\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer; the target is partially occluded by the car in front and the view is slightly blurred\n4. Relationship with surrounding objects: a black car is in front of the target, a white car is to the left of the target, a pedestrian is to the left of the target\n5. Summary: dark blue car, rear facing observer, stationary, located at the bottom-right of the view, partially occluded by a black car in front and a white car to the left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000143/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000143/lidar.bin",
"others": [
{
"bbox_3d_other": [
5.909185409545898,
-2.0062971115112305,
-1.4749202728271484,
4.590785026550293,
1.961066484451294,
1.6168376207351685,
-0.13493061065673828
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.91954517364502,
-2.4627482891082764,
-1.46430242061615,
4.863844394683838,
2.018930196762085,
1.6369038820266724,
6.252927780151367
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.08655923979913,
-5.8905236527835285,
-1.5582409496679022,
4.636707480894459,
1.9874441216257193,
1.685177221782718,
-0.059941168375777565
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.5445015423644,
11.657788617993237,
-0.6687192656891461,
4.519220235361465,
1.9543096168516247,
1.6198480248668656,
1.5291582535192414
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.50588035583496,
-3.600252151489258,
-1.2967785596847534,
0.8721188902854919,
0.8140336275100708,
1.7539746761322021,
1.5257022380828857
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.3294677734375,
7.908692836761475,
-0.4698285460472107,
0.7581892013549805,
0.743358850479126,
1.7691508531570435,
-5.674936294555664
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.621458053588867,
1.4044203758239746,
-1.1077970266342163,
0.8588021397590637,
0.8041630983352661,
1.7541064023971558,
2.2214162349700928
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.694188424868372,
5.321904659862877,
-0.6796681002478111,
0.9009196174437882,
0.8007982109413773,
1.7630570911970294,
-3.286114406321304
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.482059979521296,
6.827356357507007,
-0.4765350685998204,
0.8096006610354439,
0.7757185834353088,
1.8584118021316216,
0.7927074151648004
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0011639428515278216,
-0.9977578457972051,
-0.06691731007115703,
18.719188109908508
],
[
0.9977197797664311,
0.005674439334422854,
-0.0672535634822749,
147.68096927165135
],
[
0.06748248883868171,
-0.0666864445623018,
0.9954893428921159,
9.92046274229528
],
[
0,
0,
0,
1
]
],
"timestamp": 304
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000143/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
111,
370,
169,
475
],
"bbox_3d": [
19.32862313206296,
8.413004387823227,
-0.9149189512842071,
0.7614089546144985,
0.729891541551371,
1.6854115763648612,
-1.575326173647428,
0.8667822480201721,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, carrying a light-colored bag\n2. Motion state: moving left in frame\n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a tree trunk; side profile facing observer\n4. Relationship with surrounding objects: a black car to the right front of the target, a pedestrian to the right of the target\n5. Summary: person wearing dark clothes and carrying a light-colored bag, moving left in frame, located at the left-center of the view, partially occluded by a tree trunk, with a black car to the right front and another pedestrian to the right."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003181/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003181/lidar.bin",
"others": [
{
"bbox_3d_other": [
7.850681578495198,
2.6782615188921852,
-1.4468696273152162,
4.518510838453463,
1.940550593971192,
1.6196848917199091,
-0.017964400874468378
],
"class_other": "Car"
},
{
"bbox_3d_other": [
2.5699080772743486,
2.750314790644609,
-1.3935960681127995,
4.375105842456725,
1.9315573268661996,
1.6968547333753656,
-0.013171506388828469
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.310163497924805,
-4.869217395782471,
-1.2191624641418457,
0.7988569736480713,
0.7816835045814514,
1.7925843000411987,
-3.384495973587036
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.026660919189453,
-5.865738391876221,
-1.0620615482330322,
0.7501056790351868,
0.7388297319412231,
1.8429468870162964,
3.3093860149383545
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.706890106201172,
-5.19264030456543,
-1.1714674234390259,
0.8175699710845947,
0.7805137038230896,
1.7651352882385254,
3.252586603164673
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.419190272347052,
-7.153171933827537,
-1.026156932721225,
0.8358118362799728,
0.7909982265935702,
1.8099292335250776,
-3.338662869761671
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.003946969219356,
-4.9785829169436795,
-1.142948371879756,
0.7743370051836109,
0.759558970957889,
1.8060163350982519,
-3.510527216636322
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.898635079094248,
10.610122397072445,
-0.8398271007329602,
0.755595602607271,
0.7227941518476889,
1.753580685724987,
-4.014292543458948
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993950053708309,
-0.031018618930307926,
-0.01573113217454973,
-87.5190154167634
],
[
0.03212413848399283,
-0.9966113534764198,
-0.07572218861443462,
181.57242870991402
],
[
-0.013329027214994413,
-0.07618172616549919,
0.997004855370297,
11.750486831414154
],
[
0,
0,
0,
1
]
],
"timestamp": 2535
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003181/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
108,
408,
487,
694
],
"bbox_3d": [
10.268319026267555,
2.7105479729901543,
-1.3497083994434966,
4.478815568294801,
1.9610744421521367,
1.7466228592019244,
-0.020857181500272937,
0.9882478713989258,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark color, rear facing observer\n2. Motion state: stationary\n3. Position to viewer: bottom-left, slightly left, near the left edge of the view; rear facing observer, side profile facing observer\n4. Relationship with surrounding objects: a white car to the left front of the target, a black car to the right front of the target\n5. Summary: dark SUV parked on the left side of the street, rear facing observer, with a white car to its left front and a black car to its right front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000430/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000430/lidar.bin",
"others": [
{
"bbox_3d_other": [
26.18440818786621,
2.990255117416382,
-1.3493720293045044,
4.548910140991211,
1.989343285560608,
1.771336555480957,
6.277946472167969
],
"class_other": "Car"
},
{
"bbox_3d_other": [
-0.17090511606052416,
3.230906358973243,
-1.401426132281247,
4.3844852692642675,
1.9195513208669794,
1.6539679632367634,
0.0010842641063204539
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.153637545488962,
2.884844536446508,
-1.342326566312581,
4.396250927781457,
1.9277068707032738,
1.7003414587185561,
-0.07329894868040032
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.191930770874023,
6.510042190551758,
-1.1734179258346558,
0.7727541923522949,
0.7577625513076782,
1.7993497848510742,
2.2693042755126953
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9997102730922942,
-0.0200670451943217,
-0.013292237242086637,
-60.47047414026564
],
[
0.021010935414669567,
-0.9969503588264492,
-0.0751566539224255,
180.68178711386878
],
[
-0.011743528717189256,
-0.07541416135570099,
0.9970831428723911,
12.131762400199786
],
[
0,
0,
0,
1
]
],
"timestamp": 672
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000430/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
37,
402,
244,
763
],
"bbox_3d": [
6.490942712371265,
2.8576236100951906,
-1.2171224643020686,
0.786578357219696,
0.7789413332939148,
1.8623405694961548,
-5.08360294039734,
0.8192161321640015,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing light-colored top and light-colored pants, holding a phone to their ear\n2. Motion state: stationary\n3. Position to viewer: bottom-left, near the left edge of the view; side profile facing observer, back to observer\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a traffic light to the left of the target\n5. Summary: person standing on the sidewalk at the bottom-left of the view, wearing light-colored clothes, holding a phone to their ear, with a pedestrian to their right and a traffic light to their left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002688/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002688/lidar.bin",
"others": [
{
"bbox_3d_other": [
36.81051826577787,
-6.9960552114441725,
-0.5436396934597072,
9.230999946594238,
2.9177234172821045,
3.441398859024048,
-0.0958094948101822
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.503783096086778,
7.086942366113419,
-1.07572595920535,
0.7979537844657898,
0.7570068836212158,
1.7288684844970703,
3.2281617767047104
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
5.707307196329879,
2.8606718816898535,
-1.2581084220376342,
0.7700155377388,
0.7622815370559692,
1.8151779174804688,
1.216697061700743
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9983819851896724,
0.05676249543223472,
0.0033809408504304056,
-103.43495951708681
],
[
-0.05684135368319159,
-0.9945905700122307,
-0.08694054608873722,
181.1080792736023
],
[
-0.0015723104626307251,
-0.08699205225220893,
0.996207764818543,
11.79307860561971
],
[
0,
0,
0,
1
]
],
"timestamp": 1100
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002688/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
0,
380,
195,
472
],
"bbox_3d": [
22.370500385717563,
11.231119911489515,
-1.0811173370881395,
4.542674278645967,
1.9576052744125916,
1.6311090047023373,
-1.631431879279423,
0.7907335162162781,
1
],
"class": "car",
"description": "1. Appearance: car, white, with a visible rear wheel and side profile\n2. Motion state: stationary\n3. Position to viewer: top-left, near the left edge of the view; side facing observer; the car is partially occluded by a fire hydrant and a pole on the right side\n4. Relationship with surrounding objects: a fire hydrant to the right front of the target, a pedestrian to the left front of the target\n5. Summary: white car, stationary, located at the top-left of the view, partially occluded by a fire hydrant and a pole, with a pedestrian to its left front and a fire hydrant to its right front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000304/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000304/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.325681209564209,
-3.005709171295166,
-1.6366606950759888,
4.614161014556885,
1.9869099855422974,
1.6537976264953613,
6.154828071594238
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.709988145775839,
-6.233357306236353,
-1.8240587962590884,
4.509964627329771,
1.9504802847549991,
1.585328089851819,
-0.030366908362095213
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.227636722460858,
-3.118986435039737,
-1.6409256578552722,
4.619615883994785,
1.9789908363155126,
1.6499889034035276,
-0.044871202961804135
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.638322830200195,
-8.383201599121094,
-1.6483162641525269,
0.8281761407852173,
0.8133928775787354,
1.8065649271011353,
1.8550266027450562
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.55513572692871,
7.010350704193115,
-0.9187059998512268,
0.8416067957878113,
0.7841954827308655,
1.8123829364776611,
1.1777255535125732
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.0062308435032140674,
-0.9981400816494871,
-0.06064283959375692,
18.724656402408307
],
[
0.9967515890820465,
-0.0013297266400675856,
-0.08052640243720233,
153.00852302545763
],
[
0.0802959915042714,
-0.06094759414298789,
0.994905997829206,
10.291317687572123
],
[
0,
0,
0,
1
]
],
"timestamp": 424
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000304/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
23,
335,
97,
473
],
"bbox_3d": [
15.220610831066619,
7.883171468797505,
-0.5106810071749255,
0.7660587569061535,
0.7435463039665999,
1.7716498888246253,
-2.0698488031196036,
0.9268247485160828,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, carrying a light-colored bag\n2. Motion state: moving left in frame\n3. Position to viewer: top-left, near the left edge of the view; side profile facing observer; partially occluded by a tree trunk on the right side of the target\n4. Relationship with surrounding objects: a person on a bicycle to the right front of the target, a white car to the right rear of the target\n5. Summary: person wearing dark clothes and carrying a light-colored bag, located at the top-left of the view, partially blocked by a tree, moving left in frame, with a cyclist and a white car nearby"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002097/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002097/lidar.bin",
"others": [
{
"bbox_3d_other": [
17.732301712036133,
-6.181247234344482,
-1.7621029615402222,
4.417214870452881,
1.9263614416122437,
1.592743992805481,
6.174604415893555
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.712236404418945,
-2.434457540512085,
-1.5312573909759521,
4.758808135986328,
2.0030620098114014,
1.630215048789978,
6.258338928222656
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.640590896743049,
-2.1417629099024076,
-1.5163270926500925,
4.561060744449058,
1.9471864906391965,
1.604780438719782,
-0.13032307876934035
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.394353347643857,
11.620532142140355,
-0.7315227371591186,
4.527615503589166,
1.9533754664869205,
1.6139181566516378,
1.5172793467367152
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.951463971981383,
-5.929322897627756,
-1.6122379741289463,
4.677299267506219,
2.0051453399036836,
1.7125028649331453,
-0.006806421572425947
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.33121836973416,
-9.243801838823458,
-1.5961030458194911,
4.4974504861560165,
1.9507440706854462,
1.6015212413188742,
-1.818750824377544
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.362914085388184,
6.78708028793335,
-0.5780242681503296,
0.7817493081092834,
0.7599469423294067,
1.8117804527282715,
-5.3932294845581055
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.8425931930542,
4.822304725646973,
-0.7674214839935303,
0.8412099480628967,
0.7896353602409363,
1.778955101966858,
8.723114013671875
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.450760841369629,
3.362868070602417,
-0.7998529076576233,
0.8844581842422485,
0.8196462988853455,
1.840381383895874,
6.4749674797058105
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.082611466791832,
-10.239533475042492,
-1.7513819877597783,
0.8818575187883312,
0.8328713292461414,
1.747280183360332,
-0.15238363147264056
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.984910881642662,
-0.6005674857654988,
-1.2731359300801888,
0.8241824341310909,
0.7814065930309848,
1.7186264586990163,
-4.4074500141438175
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0012115577775771436,
-0.9977302057111245,
-0.06732732535448709,
18.722729361080706
],
[
0.9974904498549847,
0.005971936890458773,
-0.07054883711215106,
147.89629975935972
],
[
0.07079078030260745,
-0.06707289006307797,
0.9952335870752826,
9.933712454178638
],
[
0,
0,
0,
1
]
],
"timestamp": 328
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002097/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
854,
427,
1155,
619
],
"bbox_3d": [
13.904640144671106,
-3.7484113371893173,
-1.6843897909773635,
4.46889812686341,
1.9383763939703373,
1.6015230860246,
0.10835503027316656,
0.9949052929878235,
1
],
"class": "car",
"description": "1. Appearance: car, black, rear facing observer\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a white bus to the left front of the target, a pedestrian to the left of the target, a stop sign to the left of the target\n5. Summary: black car, rear facing observer, stationary, located at bottom-right near the right edge of the view, to the right of a white bus and a stop sign, and behind a pedestrian"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000928/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000928/lidar.bin",
"others": [
{
"bbox_3d_other": [
26.874704360961914,
-2.0743656158447266,
-0.6815258860588074,
10.68785572052002,
3.0319924354553223,
3.4507932662963867,
-0.5647637844085693
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.259246826171875,
1.1484594345092773,
-0.4495086967945099,
8.657145500183105,
2.9138174057006836,
3.3767099380493164,
-0.10882258415222168
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.500972899975579,
-4.927326120021323,
-1.6060607512381062,
4.6643952191209115,
2.0218478320335183,
1.7248932659958678,
0.12036492891350796
],
"class_other": "Car"
}
],
"pose": [
[
0.9851829261894555,
0.16973390402586397,
0.024596824366591833,
-148.86384644314143
],
[
-0.17017295551212103,
0.985267532542406,
0.017001603749908688,
6.134827257306243
],
[
-0.02134870387287809,
-0.020935404030924143,
0.9995528708882839,
1.2080683257202334
],
[
0,
0,
0,
1
]
],
"timestamp": 1659
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000928/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
994,
424,
1277,
620
],
"bbox_3d": [
13.642279651818901,
-5.310006679533785,
-1.7037030948109209,
4.511137295848354,
1.9700264382793644,
1.6775341025024018,
-0.03681717042916555,
0.9831791520118713,
1
],
"class": "car",
"description": "1. Appearance: sedan, dark blue, rear facing observer\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a minivan to the left front of the target, a white car to the left of the target\n5. Summary: dark blue sedan, rear facing observer, stationary, located at the bottom-right of the view, near the right edge, with a minivan to its left front and a white car to its left."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001129/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001129/lidar.bin",
"others": [
{
"bbox_3d_other": [
34.253173828125,
13.182393074035645,
-1.0915946960449219,
4.6580963134765625,
1.9785594940185547,
1.6115034818649292,
1.5635530948638916
],
"class_other": "Car"
},
{
"bbox_3d_other": [
31.67962033840419,
1.7739280124759027,
-1.3216501494716555,
4.550268559015451,
1.9710712386572737,
1.6653800417582325,
0.2793426692680967
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.215984699538524,
-5.1762643233108925,
-1.5965930774642376,
4.487449387914082,
1.9754271919197037,
1.7320849173391002,
-0.35595342295818
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.685738371427846,
-5.007829597844639,
-1.8167880036695019,
4.405528883526925,
1.9299577555900218,
1.6059264077865425,
-0.003067895741846405
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.986069405423393,
-5.137639462744646,
-1.6771618991061308,
4.637267099444853,
2.0255346500242926,
1.7996609094617797,
0.05650296561974888
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.563937545711354,
4.958680663014128,
-1.1466322437645018,
0.7968490272804475,
0.7437024388321651,
1.6396145722289606,
-3.1129152405638205
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.06691427114022025,
-0.9966135201771319,
-0.0477909166884141,
19.453723014732255
],
[
0.9946587683005798,
0.07040259835790735,
-0.07548118167615776,
140.07955996922982
],
[
0.07859017089017584,
-0.04248488607259093,
0.9960013150065878,
9.207994785862248
],
[
0,
0,
0,
1
]
],
"timestamp": 2264
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001129/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
334,
396,
541,
550
],
"bbox_3d": [
16.49796467356188,
2.6904687819685638,
-1.3120011294509464,
4.352885219746629,
1.9060829956342111,
1.6643068664022174,
-0.02742442630331121,
0.9968078136444092,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark color, rear facing observer \n2. Motion state: stationary \n3. Position to viewer: center, slightly left, near the center of the view; rear facing observer \n4. Relationship with surrounding objects: a white car to the right front of the target, a pedestrian to the left front of the target \n5. Summary: dark SUV, rear facing observer, stationary in the center-left of the view, with a white car to its right front and a pedestrian to its left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001299/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001299/lidar.bin",
"others": [
{
"bbox_3d_other": [
21.703819274902344,
2.5132415294647217,
-1.2848819494247437,
4.295186519622803,
1.884994626045227,
1.6384212970733643,
-0.0032732486724853516
],
"class_other": "Car"
},
{
"bbox_3d_other": [
0.7545080124184551,
2.56758240032417,
-1.373396253741628,
4.5896938427452465,
1.99736532216431,
1.7278175248287144,
-0.0005478310479585247
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.01166518190206,
2.3653819699158305,
-1.397627585418839,
4.430205573037888,
1.9303736216786125,
1.63175933606044,
-0.04023451206033757
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.23145264435827,
9.281132344216644,
-0.79783998274245,
0.8517463189987751,
0.7964645918935285,
1.8340210778426094,
-3.0495391643630487
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9994646746272073,
-0.0305443129440778,
-0.011722163584638517,
-68.83400643143945
],
[
0.03137805680032673,
-0.9963683183999279,
-0.07915549027285206,
180.75272942999828
],
[
-0.00926184235269925,
-0.07948093504529465,
0.9967933583449278,
11.85298343994329
],
[
0,
0,
0,
1
]
],
"timestamp": 2508
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001299/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
855,
397,
986,
493
],
"bbox_3d": [
25.516379092949606,
-5.362499305351884,
-1.591288843578265,
4.522311926852055,
1.966666178810293,
1.6625077734892777,
-0.03492211515114135,
0.9554242491722107,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, rear facing observer \n2. Motion state: stationary \n3. Position to viewer: right-center, near the right edge of the view, slightly right; rear facing observer, cannot clearly determine \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the left of the target \n5. Summary: dark-colored car, rear facing observer, stationary, located at the right-center of the view near the right edge, with a pedestrian and a white car to its left front and left respectively"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000957/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000957/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.776216505501381,
-4.956488750652909,
-1.679492675361304,
4.652907692722388,
1.9975810976726194,
1.6543380979786446,
0.02623362763012423
],
"class_other": "Car"
},
{
"bbox_3d_other": [
1.5211897188493282,
-4.964114304561283,
-1.7155815235229563,
4.57460418116631,
1.9864348094172177,
1.6665805546780872,
-0.006528616451655339
],
"class_other": "Car"
}
],
"pose": [
[
0.9995002512049331,
0.029487613195772963,
0.011389842373458336,
-78.08191115391445
],
[
-0.029626710587917847,
0.9994860505739396,
0.012243068563405804,
2.398361892857166
],
[
-0.01102296970038054,
-0.012574393668283772,
0.9998601796065586,
0.3726751913258149
],
[
0,
0,
0,
1
]
],
"timestamp": 1783
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000957/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
460,
399,
606,
510
],
"bbox_3d": [
23.19258567571447,
2.0960831005514677,
-1.5478285449984437,
4.623882205752223,
2.005627764116515,
1.7141283953461182,
-0.05479370508982795,
0.8712483048439026,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible rear lights\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right, near the center of the view; rear facing observer\n4. Relationship with surrounding objects: a white van to the left front of the target, a black car to the left rear of the target\n5. Summary: dark-colored car, rear facing observer, moving away from camera, located in the center-right of the view, with a white van to its left front and a black car to its left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001281/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001281/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.555027961730957,
3.0262794494628906,
-1.1213792562484741,
4.688309669494629,
2.053016185760498,
1.984830379486084,
0.0040738582611083984
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.854013442993164,
2.429743528366089,
-1.4867461919784546,
4.449719429016113,
1.9460614919662476,
1.6851725578308105,
-0.029982328414916992
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.517412014429596,
2.754083046432953,
-1.4870915453246836,
4.2900809247991845,
1.8926794277973575,
1.64295373345792,
-0.0077043513552683685
],
"class_other": "Car"
},
{
"bbox_3d_other": [
0.8555833772851926,
2.882787247299575,
-1.0714202583604444,
5.108219622896791,
2.1521540421333594,
2.0427268466944177,
-0.03390653892990958
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.677083362062717,
-8.856622030179807,
-1.2147476798257755,
0.8345194016733477,
0.7937711131188178,
1.787307027847536,
-3.188889467111721
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9994009047990734,
-0.03447385655566203,
-0.0030634459311451975,
-46.385740890399994
],
[
0.03460297326385206,
-0.9970299803214909,
-0.06880299834621058,
179.66689875120287
],
[
-0.0006824427408589325,
-0.06886778313774268,
0.9976255623817979,
11.977090107356362
],
[
0,
0,
0,
1
]
],
"timestamp": 2483
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001281/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
694,
304,
863,
497
],
"bbox_3d": [
25.94649111583627,
-2.2950916017186636,
-0.6401440504180886,
8.802808911255434,
2.887305396929899,
3.286642345667322,
-0.0331697576891441,
0.778092086315155,
1
],
"class": "car",
"description": "1. Appearance: car, white, with rear doors and windows\n2. Motion state: stationary\n3. Position to viewer: top-right, slightly right, near the right edge of the view; rear facing observer; cannot clearly determine\n4. Relationship with surrounding objects: a black car to the left front of the target, a white tent to the right of the target\n5. Summary: white car with rear doors and windows, located at the top-right of the view, rear facing observer, stationary, with a black car to its left front and a white tent to its right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001047/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001047/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.980579376220703,
-5.7153449058532715,
-1.5618822574615479,
4.3808135986328125,
1.9243701696395874,
1.6326608657836914,
5.9679741859436035
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.362693421529002,
-1.1042956140442932,
-1.404627018952166,
4.485499603831117,
1.9365698507513711,
1.6199269726006444,
-0.08423876680965203
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.092445514348583,
-6.009853235040355,
-1.575006211233006,
4.4458601558456845,
1.9388377076178411,
1.6219297658457223,
-0.06445917954324965
],
"class_other": "Car"
}
],
"pose": [
[
0.034467883032781754,
-0.9980845010999013,
-0.051374056715424665,
18.735350018434463
],
[
0.9971398728989711,
0.037803847645822286,
-0.06544419743716903,
128.86793174377968
],
[
0.06726097616197803,
-0.04897139744108446,
0.9965328711680339,
8.40676635350934
],
[
0,
0,
0,
1
]
],
"timestamp": 2188
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001047/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
37,
350,
227,
420
],
"bbox_3d": [
30.178883613255856,
13.405212899561466,
-0.4249290694040963,
4.81781687415903,
2.0289049248463753,
1.697416853029393,
1.5773083009531064,
0.8903369307518005,
1
],
"class": "car",
"description": "1. Appearance: car, silver, sedan\n2. Motion state: stationary\n3. Position to viewer: top-left, slightly left, near the left edge of the view; side facing observer; cannot clearly determine\n4. Relationship with surrounding objects: a green trash can to the right front of the target, a tree to the left of the target\n5. Summary: silver sedan, stationary, located in the top-left of the view, near a tree and a green trash can, side facing observer"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000986/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000986/lidar.bin",
"others": [
{
"bbox_3d_other": [
29.778833389282227,
2.30486798286438,
-0.912566065788269,
4.9803667068481445,
2.0676462650299072,
1.7646033763885498,
1.5807254314422607
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.81463417401217,
-6.86623647533935,
-1.7188072194837956,
0.8135973322384868,
0.7828792864091847,
1.6932923912951148,
2.9207381650489905
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.75712740035808,
-10.032078349123891,
-1.6773511896636148,
0.7841109552293876,
0.7697601972238185,
1.7442457353191942,
2.1212540665925883
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.999561993220217,
0.027348785929436386,
0.011307768029665858,
-10.68141274231811
],
[
-0.027455510406001592,
0.9995788931956404,
0.009393147828305104,
-0.33795011592767193
],
[
-0.01104611506244658,
-0.009699494108679945,
0.9998919457401699,
-0.06700160739248445
],
[
0,
0,
0,
1
]
],
"timestamp": 1858
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000986/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
857,
386,
1020,
500
],
"bbox_3d": [
23.000162915964605,
-5.1512037245125555,
-1.3918377708164043,
4.473010462410766,
1.9772169596801128,
1.8283449200947632,
0.035282315376161,
0.9971666932106018,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible rear lights and a roof rack\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer; cannot clearly determine\n4. Relationship with surrounding objects: a red car to the left front of the target, a white car to the left rear of the target\n5. Summary: dark-colored car with rear lights and roof rack, stationary in the bottom-right of the view, located between a red car to its left front and a white car to its left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001648/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001648/lidar.bin",
"others": [
{
"bbox_3d_other": [
28.845815658569336,
-5.131146430969238,
-1.3557686805725098,
4.510091304779053,
1.9598392248153687,
1.6934834718704224,
0.041236162185668945
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.218366622924805,
-0.9174473285675049,
-1.3859050273895264,
4.522348403930664,
1.9283230304718018,
1.5838837623596191,
-6.275724411010742
],
"class_other": "Car"
},
{
"bbox_3d_other": [
55.384084080264955,
-2.8328750142192973,
0.30179383793917225,
12.684948404284558,
3.0744825503000532,
3.490598899729703,
0.5749760161986328
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.279660342827924,
-5.062996532894971,
-1.6060182863261456,
4.408900782312406,
1.9032631065019405,
1.5663207827308403,
0.005856567769154664
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.60367840183396,
-1.0284751316291647,
-1.0271071142671904,
5.359038732421189,
2.1721797697491882,
1.938450248904653,
0.008002887916812362
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.13941764831543,
7.875825881958008,
-0.6449052691459656,
0.8155924677848816,
0.7554736733436584,
1.7006314992904663,
-9.357806205749512
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.9719693543896,
-10.261697910645779,
-0.8255769364403065,
0.7431560745759765,
0.7426999152813863,
1.9146918745315022,
3.116044133886972
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.060387364962550094,
0.9965723941478241,
0.05654051092229016,
-158.6776772319615
],
[
-0.9961344910901516,
-0.05654711744514057,
-0.06721978257336272,
104.43691039971245
],
[
-0.06379217674170129,
-0.06038117861651359,
0.9961348660976765,
6.7694618619160325
],
[
0,
0,
0,
1
]
],
"timestamp": 3132
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001648/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1169,
409,
1232,
537
],
"bbox_3d": [
16.97727630928225,
-7.968208789424629,
-1.6432360933350054,
0.8067523223554504,
0.796986758988669,
1.7951480766748007,
-3.384155058872963,
0.8182294964790344,
2
],
"class": "pedestrian",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002262/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002262/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.568510055541992,
-3.0957069396972656,
-1.597894549369812,
4.5149617195129395,
1.9603489637374878,
1.6501281261444092,
-0.029753923416137695
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.849816572394616,
-6.0820585535343525,
-1.783072426794193,
4.547421613521214,
1.9688030904380163,
1.6286315419702788,
0.05460679756765763
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.65453151220234,
-3.0612574322460198,
-1.6384421827441238,
4.610913009277686,
1.9706324542588665,
1.6228402942641509,
-0.09597642995117628
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.207185627299964,
11.718551331613204,
-1.0739252314997763,
4.550046408912083,
1.957972730958573,
1.6165138237711072,
-1.582595913949222
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.832798957824707,
8.207071304321289,
-0.8176238536834717,
0.8302891850471497,
0.7796194553375244,
1.853846788406372,
1.2263193130493164
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.340921968499572,
-8.718375892446726,
-1.7580174812054818,
0.852884343217076,
0.8173957854628453,
1.7687243681825837,
-3.0520320234426643
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.01478807048544506,
-0.9981785768008896,
-0.05848796275361598,
18.76138223076533
],
[
0.9966484368996945,
0.019421630971881987,
-0.07946504562251204,
153.9294377004121
],
[
0.08045623777379474,
-0.05711680196004408,
0.9951203267631226,
10.359219968939712
],
[
0,
0,
0,
1
]
],
"timestamp": 432
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002262/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
689,
422,
877,
593
],
"bbox_3d": [
15.471681334124478,
-1.5914189908328922,
-1.6623846425573596,
4.552245667380687,
1.9663795933184707,
1.6260831951222339,
-0.11353148933824353,
0.8767910003662109,
1
],
"class": "car",
"description": "1. Appearance: car, black, rear lights are on\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the center of the view; rear facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a white car to the left front of the target, a black car to the right front of the target\n5. Summary: black car with rear lights on, stationary in the center-right of the view, rear facing observer, with a white car to its left front and a black car to its right front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001092/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001092/lidar.bin",
"others": [
{
"bbox_3d_other": [
15.563849449157715,
-5.701237678527832,
-1.6620687246322632,
4.492784023284912,
1.978488802909851,
1.741588830947876,
5.904260158538818
],
"class_other": "Car"
},
{
"bbox_3d_other": [
38.63847469092428,
0.5350388188431232,
-1.5246926976970552,
4.595740487519536,
1.9892066650126226,
1.6676750366310744,
0.2610073052788262
],
"class_other": "Car"
},
{
"bbox_3d_other": [
39.20821319985683,
-3.303623377767712,
-0.8982499832598867,
7.691459771108564,
2.794659579228527,
3.1448946573749166,
-0.07780870850914523
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.901276845254472,
-5.85944463339405,
-1.8473449288769026,
4.488146510276144,
1.9690533119676195,
1.6628033670027211,
-0.07325807959397213
],
"class_other": "Car"
},
{
"bbox_3d_other": [
41.877702183119226,
11.615089487907253,
-1.3556721613487723,
4.60739054877225,
1.9775921780331316,
1.642169777504164,
-1.5862365151109612
],
"class_other": "Car"
}
],
"pose": [
[
0.03839096422412208,
-0.9979462062916988,
-0.05127868186632707,
18.88293277728132
],
[
0.9960102912081332,
0.04235260650498279,
-0.07854779773948814,
131.95877028296778
],
[
0.08055826260186862,
-0.04805856916554938,
0.995590648939778,
8.6265731225415
],
[
0,
0,
0,
1
]
],
"timestamp": 2240
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001092/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1154,
448,
1279,
799
],
"bbox_3d": [
7.043744097289564,
-4.88331626159537,
-1.651614775562637,
4.612020162131043,
1.9980951521687325,
1.6784647974545726,
-0.05647022303681992,
0.7746136784553528,
1
],
"class": "car",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000041/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000041/lidar.bin",
"others": [
{
"bbox_3d_other": [
13.888206484920257,
-4.678878061135489,
-1.6606918334432772,
4.656470557666632,
1.9960083855340063,
1.6678599492940482,
0.04721408483241496
],
"class_other": "Car"
},
{
"bbox_3d_other": [
1.7836851981608426,
-4.431962436614466,
-1.5640725088071548,
4.495171413960294,
1.9368540494140596,
1.608028011276829,
0.13148159035495555
],
"class_other": "Car"
}
],
"pose": [
[
0.035182529899867365,
-0.9989204812884768,
-0.030332518066311466,
14.875186550943942
],
[
0.997095276521209,
0.037137439352730506,
-0.06649676787195086,
19.707401555394185
],
[
0.06755145541688051,
-0.02790488596501394,
0.9973254825834648,
1.2031567183807492
],
[
0,
0,
0,
1
]
],
"timestamp": 92
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000041/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
0,
350,
131,
432
],
"bbox_3d": [
23.917130121322355,
13.30836528337234,
-0.47546049585403866,
4.476117493676358,
1.932891771930163,
1.6142719177926173,
-1.6081208902865245,
0.9096049070358276,
1
],
"class": "car",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001961/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001961/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.285878240939077,
6.095680338735415,
-0.7987194889732009,
0.7495879088757468,
0.7261304608622535,
1.7092745660758408,
1.2913874168463138
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9987792550376831,
0.04785985009869121,
0.012224338628402007,
-6.93973095299009
],
[
-0.04794608609662624,
0.9988263581217958,
0.0068614247183308484,
-1.6937543682811915
],
[
-0.011881604874171595,
-0.007439157861023306,
0.9999017383702926,
0.10618618539682768
],
[
0,
0,
0,
1
]
],
"timestamp": 3704
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001961/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
827,
382,
884,
489
],
"bbox_3d": [
21.72950357131231,
-3.482750117501844,
-1.2446500116405943,
0.857133321480907,
0.8120592167616321,
1.8082701191109938,
-4.704427142553591,
0.971311628818512,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack\n2. Motion state: moving left in frame\n3. Position to viewer: center-right, slightly right of the center, near the right edge of the view; side profile facing observer\n4. Relationship with surrounding objects: a black car to the left of the target, a white van to the left front of the target\n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at center-right near the right edge, side profile facing observer, with a black car to the left and a white van to the left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002054/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002054/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.02563190460205,
-2.5005905628204346,
-1.5284520387649536,
4.728604793548584,
1.9985984563827515,
1.6412954330444336,
6.249236583709717
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.045244812096286,
-2.151923751562979,
-1.5076304917955683,
4.461145341625109,
1.9390895578292284,
1.6119808183680207,
-0.20492788352744906
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.99436226389099,
-6.175315175032317,
-1.793325397854029,
4.3772761537436775,
1.9173872621500292,
1.5749906123994917,
-0.055951060877529324
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.19948060283059,
-5.958444735269353,
-1.6218772233878254,
4.626837079042437,
1.9976366700799604,
1.6939545833581795,
-0.020051403363884113
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.72944895356187,
11.606754847512862,
-0.7462724930043085,
4.557357423777286,
1.9539148117182659,
1.600654310684539,
1.5240481940710562
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.682159423828125,
10.04556655883789,
-0.5376633405685425,
0.8032452464103699,
0.7572669386863708,
1.7640413045883179,
4.039827823638916
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.501601219177246,
7.8039231300354,
-0.507526159286499,
0.7859724164009094,
0.7627438902854919,
1.8435735702514648,
7.688024997711182
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.640113830566406,
1.3120955228805542,
-1.2516909837722778,
0.8212849497795105,
0.7788822650909424,
1.7052396535873413,
1.8863734006881714
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.319202423095703,
1.582980751991272,
-1.2048972845077515,
0.8134275078773499,
0.7729595899581909,
1.741681456565857,
8.16113567352295
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.45361157653872,
6.6613540394375494,
-0.5678657687724689,
0.7936742939405056,
0.7731719845922146,
1.863851897076573,
-2.321238392782077
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.731450135346591,
7.037727371626891,
-0.573709147252951,
0.8276458869562093,
0.778522431557408,
1.8138863439543405,
-4.322118894697754
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.131755485325442,
3.3798943053679764,
-0.8867119160237438,
0.9465715862091637,
0.8392085898768706,
1.8325442650114758,
0.054324047531257635
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.003365301957744926,
-0.9975419738703536,
-0.06999060729535207,
18.71482412635337
],
[
0.9974783006834519,
0.0016132469912090164,
-0.07095376734042066,
148.64588742671626
],
[
0.07089227326293317,
-0.07005289288091068,
0.9950210438933588,
9.984911839015243
],
[
0,
0,
0,
1
]
],
"timestamp": 344
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002054/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1078,
399,
1279,
525
],
"bbox_3d": [
16.756934549973153,
-8.330263862789309,
-1.45500679367934,
4.5995707511901855,
1.9739031791687012,
1.652169108390808,
-5.058432688430141,
0.5301880836486816,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, with visible headlights and front grille\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; side facing observer, front facing observer\n4. Relationship with surrounding objects: a white car to the left front of the target, a pedestrian to the left of the target, a building with red awnings to the left of the target\n5. Summary: dark-colored car, stationary, located at the bottom-right of the view, side and front facing observer, with a white car to its left front, a pedestrian to its left, and a building with red awnings to its left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001435/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001435/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.072526931762695,
-0.5606225728988647,
-1.3661882877349854,
4.368871212005615,
1.8919273614883423,
1.5933237075805664,
6.595888614654541
],
"class_other": "Car"
},
{
"bbox_3d_other": [
44.233095671797116,
-3.6589717654011906,
-0.052502496119751996,
9.989626195030096,
2.91707891950533,
3.5212231471598923,
-0.028410531492922164
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.45467758178711,
6.54461145401001,
-1.001686692237854,
0.7703460454940796,
0.7490865588188171,
1.7538832426071167,
-4.989041805267334
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993038491281953,
-0.03586170967777804,
-0.010283719976723399,
-94.50811319807558
],
[
0.03657264547411752,
-0.9961042652446416,
-0.0802417245855107,
181.88039735120904
],
[
-0.007366051900265896,
-0.0805619670838492,
0.9967223839861244,
11.729845983789762
],
[
0,
0,
0,
1
]
],
"timestamp": 2737
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001435/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
779,
400,
838,
514
],
"bbox_3d": [
19.880453407473127,
-2.4367347117155376,
-1.4762000133709172,
0.7999491250090497,
0.7825409766740178,
1.7396002231468266,
-3.4716135823355265,
0.5,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, carrying a backpack \n2. Motion state: moving away from camera \n3. Position to viewer: center-right, near the right edge of the view; back to observer \n4. Relationship with surrounding objects: a white postal truck to the left of the target, a pedestrian to the left front of the target \n5. Summary: person wearing dark clothes and carrying a backpack, seen from the back, moving away from camera near the right edge of the view, with a white postal truck to the left and another pedestrian nearby"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003016/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003016/lidar.bin",
"others": [
{
"bbox_3d_other": [
10.842318407462528,
-5.953927828130787,
-1.6842401416571788,
0.8128977855967497,
0.7941586230066525,
1.7610477994172162,
-2.0348022443066673
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.977854998607967,
-4.029183003406288,
-1.4924066707454053,
0.8389436238813254,
0.8104609191519321,
1.7811859509452082,
-0.15276605781025898
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.28562063830530326,
-0.9576374203964526,
-0.03676169243246401,
20.182981853576017
],
[
0.955849946649121,
-0.28190304054604587,
-0.08295513981524416,
169.9422014554315
],
[
0.06907771322896732,
-0.058832361735037836,
0.9958750035761186,
11.428085941795851
],
[
0,
0,
0,
1
]
],
"timestamp": 2374
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003016/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1039,
452,
1279,
796
],
"bbox_3d": [
8.408948835483635,
-4.240754738792248,
-1.699108954948902,
4.610116615474958,
1.9664225786333396,
1.6054099293865818,
-0.07236694202193972,
0.9941608309745789,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, rear facing observer\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, with visible rear lights and rear window\n4. Relationship with surrounding objects: a white van to the left front of the target, a black car to the left rear of the target\n5. Summary: dark-colored car, rear facing observer, stationary, located at the bottom-right of the view, near the right edge, with a white van to its left front and a black car to its left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001496/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001496/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.202322959899902,
-4.893249034881592,
-1.702439308166504,
4.30903959274292,
1.9087426662445068,
1.6321187019348145,
6.273037433624268
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.617283144209864,
-5.122863302902402,
-1.4154162361507545,
5.0012654888112,
2.137871183348381,
1.9615615694571515,
0.01814953396026109
],
"class_other": "Car"
}
],
"pose": [
[
-0.03651886051008002,
0.9981972167797386,
0.04763075939168764,
-155.9356532974208
],
[
-0.9980321199797424,
-0.03399874234192024,
-0.05268750333721229,
156.20354447769995
],
[
-0.050973133274170516,
-0.04946111535692708,
0.9974744797496637,
9.872514743732701
],
[
0,
0,
0,
1
]
],
"timestamp": 2995
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001496/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
578,
339,
752,
431
],
"bbox_3d": [
49.04882239589293,
-0.2652908493762407,
-0.6343076140391322,
9.040011661394935,
2.8833781687817135,
3.2169968815191456,
0.4709208956682951,
0.7873367667198181,
1
],
"class": "car",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000640/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000640/lidar.bin",
"others": [
{
"bbox_3d_other": [
38.10494606488544,
-7.055563443559862,
-0.5547474438818747,
9.332920942383042,
2.922996448911822,
3.4583969417319365,
6.19690103945503
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.182265281677246,
2.7725017070770264,
-1.2928773164749146,
0.7830901145935059,
0.7597806453704834,
1.7995511293411255,
1.2207562923431396
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
7.9850592613220215,
2.8109583854675293,
-1.2578692436218262,
0.803874671459198,
0.7849281430244446,
1.8114994764328003,
-1.7339186668395996
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.477342627909977,
7.096725921333757,
-1.086748417076941,
0.8129298783305291,
0.7639936200285921,
1.7092460852403153,
3.3296269237152605
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9981251048551437,
0.06114773790598831,
0.0026887184472504507,
-101.84679057266071
],
[
-0.061168030542497955,
-0.9949658958586797,
-0.07938096823349161,
181.20312448027497
],
[
-0.0021787834816848267,
-0.07939660085365827,
0.9968407258310751,
11.81036950279956
],
[
0,
0,
0,
1
]
],
"timestamp": 1096
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000640/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
719,
387,
783,
494
],
"bbox_3d": [
21.406534314405693,
-1.642222693408737,
-1.2898643417222786,
0.8479491821566566,
0.799040613115811,
1.7464523149318383,
-4.406141751194032,
0.7316477298736572,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, carrying a backpack \n2. Motion state: moving away from camera \n3. Position to viewer: center, slightly right; side profile facing observer \n4. Relationship with surrounding objects: a black car to the left of the target, a white car to the right, target is on the crosswalk \n5. Summary: person wearing dark clothes and carrying a backpack, moving away from camera on the crosswalk, with a black car to the left and a white car to the right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002152/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002152/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.518346309661865,
-2.1045637130737305,
-1.516480565071106,
4.475683212280273,
1.9232276678085327,
1.5816994905471802,
6.134528636932373
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.46841812133789,
-9.303946495056152,
-1.5301398038864136,
4.4209184646606445,
1.9345117807388306,
1.5960850715637207,
4.469138145446777
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.942861557006836,
-2.4453799724578857,
-1.4757682085037231,
4.932908058166504,
2.045438051223755,
1.6682907342910767,
6.261394500732422
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.89100861034524,
-6.032426791826406,
-1.7800054573181374,
4.367329339126985,
1.9140210626484344,
1.575324588310727,
-0.03930292930936519
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.071034672710965,
-5.885354565977664,
-1.5919155086588408,
4.650299215196132,
1.9927458198237316,
1.6908567732638893,
-0.061970842329897025
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.50146975061449,
11.70378994871988,
-0.7288594944819653,
4.517348036455638,
1.9489981098375728,
1.6144343052919345,
1.528678162868981
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.620241165161133,
3.3978028297424316,
-0.7838125824928284,
0.9887726306915283,
0.8369452953338623,
1.8643211126327515,
6.260340690612793
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.797333717346191,
3.6969046592712402,
-0.8861413598060608,
0.8795585036277771,
0.8127133846282959,
1.805665373802185,
2.337888479232788
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.928085594208852,
5.202262315911696,
-0.8713057434569558,
0.8104771736565564,
0.7485271014180508,
1.6883235645110464,
-0.03307993896982442
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.331709540183567,
7.891104155083035,
-0.5155499295302282,
0.7813364872002617,
0.7517570509057669,
1.7861167820715358,
1.0237920689981193
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.544965106433779,
6.7894904056899374,
-0.5696781020735939,
0.7914471992732657,
0.76506066802113,
1.8253592762580608,
-2.3458437565891535
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.393325637366644,
-10.10311417072477,
-1.7197419520760417,
0.8695133978646666,
0.82447592428488,
1.7485732140885804,
-0.22862590967454244
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0012371869610353081,
-0.9977630126164415,
-0.06683891099491451,
18.72120227396985
],
[
0.9976263716840476,
0.005833245348298599,
-0.06861192148037369,
147.73312664428434
],
[
0.06884832524430681,
-0.06659537448854248,
0.9954019108921707,
9.922086064406558
],
[
0,
0,
0,
1
]
],
"timestamp": 320
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002152/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
574,
290,
886,
497
],
"bbox_3d": [
25.941873280318717,
-1.0616579753400919,
-0.5053506578310127,
10.180529011315397,
2.9702342939729327,
3.378041287092047,
-5.979295648258115,
0.9346278309822083,
1
],
"class": "car",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000590/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000590/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.43679428100586,
1.5369032621383667,
-1.2469260692596436,
0.8088733553886414,
0.7876011729240417,
1.7879387140274048,
4.215663433074951
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.831640243530273,
0.7195698022842407,
-1.2845966815948486,
0.8249713778495789,
0.7856141924858093,
1.75509512424469,
1.5060656070709229
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.774838042470932,
6.986871858961479,
-0.921771552537082,
0.8629318344001762,
0.8056671884178488,
1.8368150797711769,
-2.8807943614250107
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.131237113145545,
0.41586256406105804,
-1.3150427333680375,
0.7992214655502369,
0.7748419720453679,
1.7243290579526052,
-4.9829262398961225
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999150664348894,
-0.008489784849118805,
-0.009888552458614173,
-96.37403073633061
],
[
0.00927855233295355,
-0.9965345029138272,
-0.08266131482680658,
181.41474846567826
],
[
-0.009152506930657514,
-0.08274604555812601,
0.9965286365987569,
11.866864706206858
],
[
0,
0,
0,
1
]
],
"timestamp": 1020
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000590/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1112,
438,
1279,
770
],
"bbox_3d": [
8.362622499355103,
-5.140823826335634,
-1.6247537838496324,
4.575547019878867,
1.9803576461891126,
1.6659451718980058,
0.026778405222207535,
0.9683956503868103,
1
],
"class": "car",
"description": "1. Appearance: car, white, with visible side profile and rear wheel\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; side facing observer, rear facing observer\n4. Relationship with surrounding objects: a white SUV to the left front of the target, a bus in the center of the road ahead\n5. Summary: white car, stationary, located at the bottom-right of the view, side and rear facing observer, with a white SUV to its left front and a bus ahead in the road"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000799/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000799/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.108669552390339,
-5.201208563828374,
-1.5805453935270917,
4.667837435741518,
2.0118341383825347,
1.7329800783947011,
0.08298402923781589
],
"class_other": "Car"
},
{
"bbox_3d_other": [
36.41718293381976,
-1.5265694766698914,
-0.6069774652990594,
9.367185538155692,
2.8911504541124615,
3.343786893572126,
-0.01639033165754955
],
"class_other": "Car"
}
],
"pose": [
[
-0.038032950467945525,
0.9980268116995347,
0.04995976188458369,
-159.6017758172403
],
[
-0.9976787888112658,
-0.03509860072793369,
-0.05835342820286297,
86.57348146252214
],
[
-0.0564847681661914,
-0.052063147770785,
0.9970450840405407,
5.766685796570935
],
[
0,
0,
0,
1
]
],
"timestamp": 1472
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000799/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
320,
401,
531,
560
],
"bbox_3d": [
15.901333271339709,
2.7354142216455912,
-1.3621148757587171,
4.305910924521259,
1.8919354803213133,
1.6438716122979762,
-0.01392005723549783,
0.9927671551704407,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark color, with visible side windows and rear wheel\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by the car in front; side facing observer\n4. Relationship with surrounding objects: a dark SUV to the left front of the target, a pedestrian to the right front of the target\n5. Summary: A dark SUV parked in the center-left of the view, side facing observer, partially occluded by a car in front, with a dark SUV to its left front and a pedestrian to its right front."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000437/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000437/lidar.bin",
"others": [
{
"bbox_3d_other": [
21.393033981323242,
2.6175918579101562,
-1.350680947303772,
4.410394668579102,
1.9194390773773193,
1.6413317918777466,
6.257017612457275
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.588376213931895,
2.8751413550865266,
-1.3260901544473993,
4.34357153434566,
1.9083670704156908,
1.6802473992193365,
-0.02690542559263598
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.894309997558594,
7.1870622634887695,
-0.9160873889923096,
0.8598353266716003,
0.7965872287750244,
1.7862169742584229,
6.21730899810791
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.037217159827264,
-3.8523470420543333,
-1.355361414875049,
0.8284309303768396,
0.7842434031807681,
1.7224380894964775,
-0.2774474130831366
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.463816053595792,
-5.3281263470966564,
-1.2113754505452576,
0.782917292277193,
0.7747616767255973,
1.8246401914640125,
-0.5972094188972492
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.787336479373067,
8.498905207131457,
-0.9180125372039456,
0.8260882204319243,
0.7712441264184433,
1.7619897130714706,
-3.025101014230753
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998862554613326,
-0.005783808333179857,
-0.013929239056032737,
-75.88108572155178
],
[
0.006845978363438022,
-0.9969722665870195,
-0.0774560019403832,
181.08034913738095
],
[
-0.013439074364047808,
-0.07754255101237222,
0.9968984622631993,
12.004808858797132
],
[
0,
0,
0,
1
]
],
"timestamp": 692
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000437/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
0,
406,
435,
784
],
"bbox_3d": [
8.602030491918725,
3.023289727910739,
-1.3463147269942226,
4.783961860604725,
2.0575464040783116,
1.8515474959497928,
-0.01648304815522339,
0.9968442916870117,
1
],
"class": "car",
"description": "1. Appearance: minivan, white, with tinted windows\n2. Motion state: stationary\n3. Position to viewer: bottom-left, slightly left, near the left edge of the view; rear facing observer, side facing observer; partially occluded by a white truck on the left, rear of the vehicle is visible\n4. Relationship with surrounding objects: a white van to the right rear of the target, a white truck to the left front of the target\n5. Summary: white minivan parked on the left side of the street, rear facing observer, partially occluded by a white truck on the left, with a white van to its right rear."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000368/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000368/lidar.bin",
"others": [
{
"bbox_3d_other": [
15.555226954903727,
2.8593794527430134,
-1.117427820271223,
5.296151462590451,
2.224982198854528,
2.2190556636155203,
-0.014600300730944316
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.68049728257048,
2.888386953370855,
-1.2487874591063448,
4.993273215672447,
2.147749980913827,
2.0366537862204916,
-0.027379333090487012
],
"class_other": "Car"
},
{
"bbox_3d_other": [
1.7192951287021003,
3.0809961791067337,
-0.5168971887364651,
7.495278644613187,
2.805687592714655,
3.2425565350979744,
-6.244828247387195
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.51066603004158,
3.0071177384223517,
-1.0230120250322674,
4.606704924069742,
2.015113069127514,
1.8419571187761095,
-0.014493305022544867
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.394006729125977,
-6.3774333000183105,
-1.246601939201355,
0.8613937497138977,
0.8199206590652466,
1.8114874362945557,
6.181305408477783
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.53084379859874,
-9.361214568021182,
-1.1095453764134722,
0.8768172374222749,
0.8203653600281321,
1.8151433721350234,
-0.059518118075554405
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9997690617107385,
-0.021444003961990664,
0.0014063925868084463,
-25.76037807395322
],
[
0.021302593847611392,
-0.9975481833644907,
-0.066661993381302,
179.50724211111557
],
[
0.0028324444202508874,
-0.06661663876452469,
0.997774624200437,
12.153220249284642
],
[
0,
0,
0,
1
]
],
"timestamp": 631
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000368/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
800,
433,
1188,
718
],
"bbox_3d": [
10.118304625875638,
-2.4807890381624738,
-1.553320445181292,
4.5480514513226735,
1.9387232729879902,
1.5806863154102224,
0.04264974411548694,
0.9985544085502625,
1
],
"class": "car",
"description": "1. Appearance: sedan, dark color, rear facing observer\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a blue car to the right of the target, a pedestrian to the left front of the target\n5. Summary: dark sedan, rear facing observer, stationary, located at bottom-right near the right edge of the view, with a blue car to its right and a pedestrian to its left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000320/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000320/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.53982925415039,
-1.8284151554107666,
-1.5966887474060059,
4.535686016082764,
1.9548149108886719,
1.609745740890503,
-6.28714656829834
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.623298815029045,
-5.261005996927768,
-1.7167517758732396,
4.408145567409192,
1.9093521948773668,
1.5425790480371575,
0.028836797022026017
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.220508787135202,
12.76423761618708,
-1.0377511035002789,
4.539589177805302,
1.9561122058161569,
1.611654781210064,
-1.4951129515743002
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.122892379760742,
2.125380277633667,
-1.2554577589035034,
0.8071721792221069,
0.76124507188797,
1.6833348274230957,
-9.816596031188965
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.39790153503418,
-7.804933547973633,
-1.5379281044006348,
0.8328330516815186,
0.8043933510780334,
1.7932486534118652,
-9.345046043395996
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.173149108886719,
-6.866713047027588,
-1.4754128456115723,
0.7852931618690491,
0.7792272567749023,
1.8149588108062744,
3.9233274459838867
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.4647224270081,
-9.285724445928286,
-1.7439444274777285,
0.8576605593571898,
0.8183823372008371,
1.7596444331231664,
-0.004085783811105026
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.072378483924597,
-0.9961214010814884,
-0.05003508141524059,
19.04212341963789
],
[
0.9945305498335694,
0.07586859521868627,
-0.07178399339185258,
157.52011028687042
],
[
0.07530166341134338,
-0.04456580041911104,
0.9961644186179754,
10.625261272479655
],
[
0,
0,
0,
1
]
],
"timestamp": 447
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000320/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1139,
414,
1260,
617
],
"bbox_3d": [
10.889112802805968,
-5.091924595528813,
-1.466308571480507,
0.8560392387312928,
0.8121086425117102,
1.7859549701963116,
-1.0436255705730413,
0.9882025718688965,
2
],
"class": "pedestrian",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003337/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003337/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.773040883680025,
-4.470401900950975,
-0.6248790704659055,
10.484884112862861,
3.0252122884716695,
3.65709403676891,
-0.07318910495321251
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.514986991882324,
8.405898094177246,
-1.0929083824157715,
0.7456213235855103,
0.7213538289070129,
1.7463797330856323,
3.364057779312134
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.057088861586138,
-2.4322028700208307,
-1.4769655833659305,
0.8655662621142678,
0.8189650358953318,
1.7596635962166969,
-0.8231286461858147
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998302658813126,
-0.01831309030335974,
0.0020174615844842916,
-95.07425718398234
],
[
0.01809137804149438,
-0.9965918625884181,
-0.08048205677731647,
181.89301157066473
],
[
0.0034844609717449033,
-0.08043189756613013,
0.9967540159867169,
11.724415545625801
],
[
0,
0,
0,
1
]
],
"timestamp": 2864
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003337/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
835,
402,
995,
513
],
"bbox_3d": [
22.341674994745276,
-4.558268222634609,
-1.6063393974019924,
4.4547935448103875,
1.9571727488318278,
1.6680589261752032,
0.013172063282759217,
0.8996443152427673,
1
],
"class": "car",
"description": "1. Appearance: car, dark gray, rear facing observer\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a white bus to the left front of the target, a black car to the right of the target\n5. Summary: dark gray car, rear facing observer, stationary, located at bottom-right near the right edge of the view, to the right of a white bus and to the left of a black car"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000877/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000877/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.934078035277253,
1.498453846988383,
-0.47334321619062436,
13.229537501838438,
3.106776916935356,
3.5195011477288656,
0.3532475224723226
],
"class_other": "Car"
},
{
"bbox_3d_other": [
2.878665251211796,
-4.642147968508425,
-1.6685559700540935,
4.679450507051844,
1.9927205464548587,
1.6447103508304992,
-0.045506783606455325
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.793583348730156,
-4.748843749537343,
-1.570723092557234,
4.62918574207112,
1.9985504912769816,
1.7186070061321306,
-0.07769964688125852
],
"class_other": "Car"
},
{
"bbox_3d_other": [
37.74584497635089,
20.373826250865392,
-0.42327159967987527,
4.634307904488518,
1.9878498442669243,
1.6589446071334149,
4.725710023840909
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.789321899414062,
-6.510409832000732,
-1.4437865018844604,
0.8540183901786804,
0.8121408224105835,
1.7822500467300415,
3.2661733627319336
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.05439901875767145,
0.9970102086094075,
0.05487613950369217,
-162.3382465136619
],
[
-0.9969586635776797,
-0.051160473643762694,
-0.05878800093516699,
37.43220907191086
],
[
-0.05580474778735079,
-0.057907252267501416,
0.9967610447139368,
3.1009501137346804
],
[
0,
0,
0,
1
]
],
"timestamp": 1552
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000877/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
837,
381,
964,
474
],
"bbox_3d": [
27.822308445322697,
-5.4071193901111485,
-1.3437051455284177,
4.564802638649896,
2.010053678751422,
1.8461297943816743,
0.00044617485384934596,
0.9677812457084656,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible rear lights and a roof rack\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer; the target is partially occluded by a red car to its left and is positioned behind a red car on the right side of the road\n4. Relationship with surrounding objects: a red car to the left of the target, a white car to the right of the target\n5. Summary: dark-colored car with rear lights and roof rack, stationary in the bottom-right of the view, partially occluded by a red car to its left and a white car to its right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001569/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001569/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.923992156982422,
-1.100034236907959,
-1.419664740562439,
4.4725341796875,
1.922829508781433,
1.5844780206680298,
6.280735492706299
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.961991867791724,
-5.266524247535358,
-1.597172449233252,
4.458282891400483,
1.929197395886916,
1.607928081704376,
-0.014669357556823748
],
"class_other": "Car"
}
],
"pose": [
[
-0.054309345883407356,
0.9971276424117852,
0.052791663054231885,
-158.4090628653337
],
[
-0.9964906229444981,
-0.050750478914963704,
-0.06656445953801556,
108.48318042793123
],
[
-0.06369406042483645,
-0.05622146945977973,
0.9963845708552399,
7.019463906746097
],
[
0,
0,
0,
1
]
],
"timestamp": 3082
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001569/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
779,
418,
1057,
639
],
"bbox_3d": [
12.712232492297924,
-2.434458081517061,
-1.5312570262269531,
4.788973764801829,
2.0096235607330786,
1.6402858768270252,
-0.025480976800446697,
0.9967724084854126,
1
],
"class": "car",
"description": "1. Appearance: sedan, dark color, with illuminated taillights \n2. Motion state: stationary \n3. Position to viewer: center-right, slightly right, near the right edge of the view; side facing observer, rear facing observer \n4. Relationship with surrounding objects: a black sedan to the front of the target, a white car to the left rear of the target \n5. Summary: dark sedan, stationary, with illuminated taillights, located at center-right near the right edge of the view, side and rear facing observer, with a black sedan in front and a white car to the left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000244/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000244/lidar.bin",
"others": [
{
"bbox_3d_other": [
17.732301712036133,
-6.181247234344482,
-1.7621029615402222,
4.417214870452881,
1.9263614416122437,
1.592743992805481,
6.174604415893555
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.640590896743049,
-2.1417629099024076,
-1.5163270926500925,
4.561060744449058,
1.9471864906391965,
1.604780438719782,
-0.13032307876934035
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.394353347643857,
11.620532142140355,
-0.7315227371591186,
4.527615503589166,
1.9533754664869205,
1.6139181566516378,
1.5172793467367152
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.951463971981383,
-5.929322897627756,
-1.6122379741289463,
4.677299267506219,
2.0051453399036836,
1.7125028649331453,
-0.006806421572425947
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.33121836973416,
-9.243801838823458,
-1.5961030458194911,
4.4974504861560165,
1.9507440706854462,
1.6015212413188742,
-1.818750824377544
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.362914085388184,
6.78708028793335,
-0.5780242681503296,
0.7817493081092834,
0.7599469423294067,
1.8117804527282715,
-5.3932294845581055
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.8425931930542,
4.822304725646973,
-0.7674214839935303,
0.8412099480628967,
0.7896353602409363,
1.778955101966858,
8.723114013671875
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.450760841369629,
3.362868070602417,
-0.7998529076576233,
0.8844581842422485,
0.8196462988853455,
1.840381383895874,
6.4749674797058105
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.220610831066608,
7.883171468797505,
-0.5106810071749259,
0.7660587569061535,
0.7435463039665999,
1.7716498888246253,
-2.0698488031196036
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.082611466791832,
-10.239533475042492,
-1.7513819877597783,
0.8818575187883312,
0.8328713292461414,
1.747280183360332,
-0.15238363147264056
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.984910881642662,
-0.6005674857654988,
-1.2731359300801888,
0.8241824341310909,
0.7814065930309848,
1.7186264586990163,
-4.4074500141438175
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0012115577775771436,
-0.9977302057111245,
-0.06732732535448709,
18.722729361080706
],
[
0.9974904498549847,
0.005971936890458773,
-0.07054883711215106,
147.89629975935972
],
[
0.07079078030260745,
-0.06707289006307797,
0.9952335870752826,
9.933712454178638
],
[
0,
0,
0,
1
]
],
"timestamp": 328
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000244/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
86,
387,
175,
568
],
"bbox_3d": [
11.987561914452467,
5.354478753838847,
-1.1565828944382268,
0.7751508214588703,
0.7660848154085624,
1.7803092973010006,
-4.101284367219139,
0.7358102798461914,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack\n2. Motion state: moving left in frame\n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a tree trunk; side profile facing observer\n4. Relationship with surrounding objects: a white van to the right front of the target, a market stall to the left of the target\n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at the left-center of the view, partially occluded by a tree trunk, with a white van to the right front and a market stall to the left."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003087/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003087/lidar.bin",
"others": [
{
"bbox_3d_other": [
19.35691261291504,
2.746046543121338,
-0.5127889513969421,
7.809579372406006,
2.858788251876831,
3.263812303543091,
6.291364669799805
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.796520121798004,
2.7934001367174233,
-1.5255211079789266,
4.518613412485148,
1.980273323730486,
1.6853085509417214,
0.04010832812536291
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.171352385367097,
3.0473067178829183,
-1.5176584534102697,
4.446022441118205,
1.916980293604337,
1.579979237018605,
-0.03774241620664087
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.395418808172547,
2.753516281038003,
-1.3129891794596122,
4.85989578870474,
2.0788832478294306,
1.779160770606169,
-0.004215049935992976
],
"class_other": "Car"
}
],
"pose": [
[
-0.9991861602016406,
-0.04030267230368677,
0.0016467746303117704,
-6.4767746865334335
],
[
0.040097407307162936,
-0.9968770289539685,
-0.06803225022849438,
177.80103056631563
],
[
0.004383513287863395,
-0.06791085148259177,
0.9976817634206634,
11.813213505429966
],
[
0,
0,
0,
1
]
],
"timestamp": 2435
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003087/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
712,
310,
817,
428
],
"bbox_3d": [
44.22081213025484,
-3.7161969877784333,
-0.09466979665839759,
10.383763939688636,
2.980319205069183,
3.605979224384853,
-0.02465707564394437,
0.9344083070755005,
1
],
"class": "car",
"description": "1. Appearance: truck, white, with a large cargo box\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right; rear facing observer\n4. Relationship with surrounding objects: a dark SUV to the right front of the target, a pedestrian to the left front of the target\n5. Summary: white truck with a large cargo box, rear facing observer, moving away from camera, located at center-right of the view, with a dark SUV to its right front and a pedestrian to its left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001410/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001410/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.63380707310641,
-4.117757140974959,
-1.3683800633481815,
4.892984992978608,
2.043947014194431,
1.6986244412222689,
-5.535432177501369
],
"class_other": "Car"
}
],
"pose": [
[
-0.9993068125702342,
-0.035855236749377094,
-0.010014806456682755,
-94.50859433987242
],
[
0.03654384209196843,
-0.9961130830115625,
-0.08014532711491874,
181.8802282501912
],
[
-0.007102250057268677,
-0.08045575088734287,
0.996732878053733,
11.730837271059402
],
[
0,
0,
0,
1
]
],
"timestamp": 2752
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001410/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1221,
409,
1278,
516
],
"bbox_3d": [
19.393325637366623,
-10.10311417072477,
-1.7197419520760402,
0.8695133978646666,
0.82447592428488,
1.7485732140885804,
-0.22862590967454244,
0.9583466053009033,
2
],
"class": "pedestrian",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002145/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002145/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.518346309661865,
-2.1045637130737305,
-1.516480565071106,
4.475683212280273,
1.9232276678085327,
1.5816994905471802,
6.134528636932373
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.46841812133789,
-9.303946495056152,
-1.5301398038864136,
4.4209184646606445,
1.9345117807388306,
1.5960850715637207,
4.469138145446777
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.942861557006836,
-2.4453799724578857,
-1.4757682085037231,
4.932908058166504,
2.045438051223755,
1.6682907342910767,
6.261394500732422
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.89100861034524,
-6.032426791826406,
-1.7800054573181374,
4.367329339126985,
1.9140210626484344,
1.575324588310727,
-0.03930292930936519
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.071034672710965,
-5.885354565977664,
-1.5919155086588408,
4.650299215196132,
1.9927458198237316,
1.6908567732638893,
-0.061970842329897025
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.50146975061449,
11.70378994871988,
-0.7288594944819653,
4.517348036455638,
1.9489981098375728,
1.6144343052919345,
1.528678162868981
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.620241165161133,
3.3978028297424316,
-0.7838125824928284,
0.9887726306915283,
0.8369452953338623,
1.8643211126327515,
6.260340690612793
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.797333717346191,
3.6969046592712402,
-0.8861413598060608,
0.8795585036277771,
0.8127133846282959,
1.805665373802185,
2.337888479232788
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.962982177734375,
-1.3811500072479248,
-1.252408742904663,
0.8434781432151794,
0.7986542582511902,
1.74434232711792,
1.7291741371154785
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.928085594208852,
5.202262315911696,
-0.8713057434569558,
0.8104771736565564,
0.7485271014180508,
1.6883235645110464,
-0.03307993896982442
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.331709540183567,
7.891104155083035,
-0.5155499295302282,
0.7813364872002617,
0.7517570509057669,
1.7861167820715358,
1.0237920689981193
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.544965106433779,
6.7894904056899374,
-0.5696781020735939,
0.7914471992732657,
0.76506066802113,
1.8253592762580608,
-2.3458437565891535
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0012371869610353081,
-0.9977630126164415,
-0.06683891099491451,
18.72120227396985
],
[
0.9976263716840476,
0.005833245348298599,
-0.06861192148037369,
147.73312664428434
],
[
0.06884832524430681,
-0.06659537448854248,
0.9954019108921707,
9.922086064406558
],
[
0,
0,
0,
1
]
],
"timestamp": 320
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002145/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
728,
363,
853,
453
],
"bbox_3d": [
30.060521862621506,
-3.1640150913254956,
-0.9651978954840359,
4.911767196846585,
2.114237802295417,
1.952434702645431,
0.07490511591311533,
0.8273618221282959,
1
],
"class": "car",
"description": "1. Appearance: white van, with a boxy shape and visible side windows\n2. Motion state: stationary\n3. Position to viewer: center-right, slightly right of the center of the view, partially occluded by a black car in front; side facing observer\n4. Relationship with surrounding objects: a black car to the front of the target, a white delivery truck to the left rear of the target, a pedestrian to the right rear of the target\n5. Summary: white van, stationary, side facing observer, located in the center-right of the view, partially occluded by a black car in front, with a white delivery truck to its left rear and a pedestrian to its right rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000652/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000652/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.743492451206606,
-3.316331228272759,
-1.3663372836236976,
4.397454583235331,
1.9358256968300314,
1.6388851493536054,
0.04529468091168343
],
"class_other": "Car"
}
],
"pose": [
[
-0.06970474303355634,
0.9957478512203282,
0.06022844501334418,
-156.40909547573418
],
[
-0.9963414481685393,
-0.06649942565558631,
-0.053680024673012486,
165.05975629548306
],
[
-0.04944661222008992,
-0.06374984845140187,
0.9967401814727747,
10.510222919114838
],
[
0,
0,
0,
1
]
],
"timestamp": 1222
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000652/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
411,
403,
557,
655
],
"bbox_3d": [
9.372965428385598,
1.269436380208622,
-1.2479009535330299,
0.7945124062180556,
0.7710456616441375,
1.7670121156039889,
-1.899835070726152,
0.9377653002738953,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a hat\n2. Motion state: moving left in frame\n3. Position to viewer: center, slightly right; side profile facing observer\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white bus to the left rear of the target\n5. Summary: person wearing dark clothes and a hat, moving left in frame, located at the center-right of the view, with a pedestrian to the right and a white bus to the left rear."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002615/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002615/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.851500425417854,
-0.6750365054713541,
-0.48568672973166116,
9.954614089943993,
2.9478762240200505,
3.320960419691587,
-6.061906831070315
],
"class_other": "Car"
},
{
"bbox_3d_other": [
43.75789079361233,
-4.521564238572239,
-0.13008822879494542,
9.749337037404379,
2.9441824555397034,
3.576013207435608,
-6.237558499414233
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.230157852172852,
0.9821560382843018,
-1.3044955730438232,
0.7999060153961182,
0.7770395874977112,
1.7270872592926025,
4.554401874542236
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.862174034118652,
1.2010520696640015,
-1.2801134586334229,
0.8276544213294983,
0.7854783535003662,
1.7466837167739868,
1.4732822179794312
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.46010207181034,
6.363708917044221,
-0.9598872997638623,
0.8728986345668586,
0.8128141435133734,
1.8301441242105054,
-2.876930333469031
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999162649674486,
-0.008494778290838945,
-0.009762263842824172,
-96.372992588996
],
[
0.009273262623172619,
-0.9965328624638438,
-0.08268168255387463,
181.41476704042208
],
[
-0.009026054169408163,
-0.08276528723690578,
0.9965281920621833,
11.867221305236589
],
[
0,
0,
0,
1
]
],
"timestamp": 1024
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002615/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
712,
309,
815,
426
],
"bbox_3d": [
44.30117675410433,
-3.679127030487904,
-0.055534912302888984,
10.324685302862443,
2.9744467507573074,
3.5989141858924505,
-0.025580992363439137,
0.8969367146492004,
1
],
"class": "car",
"description": "1. Appearance: truck, white, with a large cargo box\n2. Motion state: moving away from camera\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the left\n5. Summary: white truck with a large cargo box, rear facing observer, located at center-right of the view, moving away from camera, with a pedestrian to its left front and a white car to its left."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001471/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001471/lidar.bin",
"others": [
{
"bbox_3d_other": [
2.5804419551324713,
-2.621728350533715,
-1.462834440632,
4.6540240583779555,
2.0120807766251847,
1.712546059271989,
0.017872806033646604
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.777519702911377,
0.975849986076355,
-1.3245899677276611,
0.8563055992126465,
0.8080213665962219,
1.7690125703811646,
5.08939790725708
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.834196090698242,
8.557990074157715,
-1.0200040340423584,
0.8546084761619568,
0.7632981538772583,
1.6519607305526733,
2.93436336517334
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.767852616799104,
8.413268467005025,
-0.9859700460520433,
0.7837691437005861,
0.7363490143103995,
1.6550655592148211,
-0.1679383250032207
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.130860624681603,
-2.01964667422763,
-1.3051948851598094,
0.8595640238067784,
0.8162922007696708,
1.8141369010486423,
-1.5536245730199947
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.707177661249432,
8.69519662917321,
-1.0660417024486584,
0.8082401033408129,
0.7312685480533468,
1.6206927251054979,
-3.228582461189381
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9992995428259759,
-0.03591945168835861,
-0.010498414080379694,
-94.50889084663481
],
[
0.036646503761840546,
-0.996112109379854,
-0.08011054430504957,
181.8813323647738
],
[
-0.007580070568856834,
-0.08043916047066613,
0.9967306978281273,
11.72880516029182
],
[
0,
0,
0,
1
]
],
"timestamp": 2840
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001471/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1183,
431,
1279,
602
],
"bbox_3d": [
12.486597230234235,
-6.301212036936389,
-1.7121317574939463,
0.8367894176899571,
0.7981042453537244,
1.7481659356703825,
1.7049203985038175,
0.971324622631073,
2
],
"class": "pedestrian",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003480/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003480/lidar.bin",
"others": [
{
"bbox_3d_other": [
16.438705214643075,
11.21238760067616,
-0.6800563552200268,
4.589749021701548,
1.9964434568843026,
1.768553885691126,
1.525107368573595
],
"class_other": "Car"
}
],
"pose": [
[
0.9986659324309457,
0.051049016131498384,
0.007768742101280102,
-4.818192158871964
],
[
-0.051096159981709244,
0.9986757391831742,
0.005995865414147721,
-1.823126988161591
],
[
-0.00745237123027023,
-0.00638481941381394,
0.9999518469626923,
0.09072794054979622
],
[
0,
0,
0,
1
]
],
"timestamp": 3886
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003480/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
618,
376,
737,
458
],
"bbox_3d": [
30.080969491650905,
-0.4859595583931138,
-1.1513410232111596,
4.604940156237531,
1.9908929629607408,
1.766446126748635,
-6.114653040612111,
0.996911346912384,
1
],
"class": "car",
"description": "1. Appearance: white SUV, rear facing observer, with visible taillights and rear window\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right, near the center of the view; rear facing observer; the vehicle is partially occluded by the green bounding box and appears slightly blurred\n4. Relationship with surrounding objects: a dark SUV to the right of the target, a white truck to the left rear of the target, a pedestrian to the left front of the target\n5. Summary: white SUV, rear facing observer, moving away from camera, located in the center-right of the view, partially occluded, with a dark SUV to its right and a white truck to its left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001386/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001386/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.976179122924805,
-4.333012104034424,
-1.4682159423828125,
4.76627254486084,
2.007675886154175,
1.6460310220718384,
7.133058547973633
],
"class_other": "Car"
},
{
"bbox_3d_other": [
44.17840576171875,
-3.72998046875,
-0.07529877871274948,
10.13925552368164,
2.968249559402466,
3.5992023944854736,
6.256350994110107
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.687442779541016,
2.229687213897705,
-1.2008476257324219,
0.8013814687728882,
0.7869278192520142,
1.8329039812088013,
1.9228932857513428
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.43159702401175,
3.696332286937178,
-1.2536549942758202,
0.8585486837410063,
0.7916338569861051,
1.7153164703963095,
-4.747738352034787
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.340623046800914,
0.7401411735125407,
-1.213557215661753,
0.9662739749551034,
0.8334036157332622,
1.8226210467458483,
-6.1983844754646915
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993049069143021,
-0.03586214454206299,
-0.010178880382553365,
-94.50758442153621
],
[
0.0365647858620821,
-0.9961028569496075,
-0.08026278597014855,
181.88248865761605
],
[
-0.007260816197799589,
-0.08057918444408566,
0.9967217643768334,
11.72845503800523
],
[
0,
0,
0,
1
]
],
"timestamp": 2675
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001386/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
927,
400,
1074,
526
],
"bbox_3d": [
20.414838611206296,
-5.630590602145077,
-1.5786911075334995,
4.573352396493155,
1.9963194500628567,
1.735860324350963,
-0.16497242131977763,
0.9684537649154663,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, rear facing observer\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a yellow taxi to the left front of the target, a dark SUV to the left rear of the target\n5. Summary: dark-colored car, rear facing observer, stationary, located at the bottom-right of the view, to the right of a yellow taxi and behind a dark SUV"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001838/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001838/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.32345199584961,
10.735808372497559,
-1.161922812461853,
4.769373893737793,
2.0399603843688965,
1.7623506784439087,
1.2038826942443848
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.507905960083008,
-5.184226989746094,
-1.6289942264556885,
4.773478031158447,
2.016901731491089,
1.6813547611236572,
6.186488151550293
],
"class_other": "Car"
},
{
"bbox_3d_other": [
37.339057402188715,
0.5715930244264769,
-1.3094674329696288,
4.943986979082706,
2.1104489600724547,
1.888564255547599,
0.2784391595953408
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.08958861087501,
-1.843271237949864,
-1.5557420501207,
4.653757332958003,
1.9963861277123969,
1.6674233402723306,
-0.035217743241956034
],
"class_other": "Car"
}
],
"pose": [
[
-0.02969953078998472,
0.9987640775808413,
0.03985291965397205,
-162.55344001101358
],
[
-0.9982973808836808,
-0.02763598592303146,
-0.05136722304003984,
49.36968693116225
],
[
-0.050202362410925856,
-0.04131064773340174,
0.997884338584492,
3.7624691407953215
],
[
0,
0,
0,
1
]
],
"timestamp": 3316
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001838/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
651,
397,
794,
523
],
"bbox_3d": [
19.164280457344564,
-0.9549219320264797,
-1.371505329206058,
4.467325282878563,
1.915708640559775,
1.582037017482226,
-0.019308667610010932,
0.9935652017593384,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, rear lights are on \n2. Motion state: stationary \n3. Position to viewer: center, slightly right, near the center of the view; rear facing observer \n4. Relationship with surrounding objects: a red car to the right rear of the target, a white car to the left rear of the target, a bus ahead of the target \n5. Summary: dark-colored car with rear lights on, stationary in the center-right of the view, rear facing observer, with a red car to its right rear, a white car to its left rear, and a bus ahead."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001691/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001691/lidar.bin",
"others": [
{
"bbox_3d_other": [
49.307550306507025,
-6.776216475651097,
-0.7342661888124997,
10.85068627263679,
2.9947222686204755,
3.3804268231157395,
1.3481154977777556
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.23294675692668,
-5.099059852750429,
-1.5862813978381176,
4.465026388402845,
1.920223008413784,
1.5901408933225225,
0.0036129893659697654
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.885210575603978,
-5.166087345009998,
-1.3469117670535677,
4.49359775957514,
1.9788066466323664,
1.809841266421021,
0.035485532032577094
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.068891847684014,
-1.11441913892358,
-1.0602586318999023,
4.942829690267325,
2.083876453501524,
1.8696675723690028,
-0.022839858853503925
],
"class_other": "Car"
},
{
"bbox_3d_other": [
29.70356203642143,
-5.107131266816907,
-1.2931847338044324,
4.439299190365584,
1.936849058639522,
1.6821882384132207,
0.06743036738251607
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.134153366088867,
7.836824893951416,
-0.5679981708526611,
0.8242073059082031,
0.7597388625144958,
1.6793147325515747,
3.175616979598999
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
22.843489292144042,
-10.259930835991895,
-0.8540413806930562,
0.7786562872189348,
0.775332313071015,
1.9378962593693887,
-0.15896079780189631
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.06043414548033216,
0.9966094950728597,
0.055832144779525784,
-158.6330380047995
],
[
-0.9959780105839393,
-0.056500189444572524,
-0.06953798261371899,
105.10885930121731
],
[
-0.06614768698390378,
-0.05981005704183287,
0.9960156829002906,
6.814210046928129
],
[
0,
0,
0,
1
]
],
"timestamp": 3104
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001691/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
435,
384,
508,
492
],
"bbox_3d": [
20.507105963191748,
2.959410882688727,
-1.184179049275306,
0.8771676383569635,
0.7991190476429978,
1.705157816984198,
-2.0426243951399163,
0.9116698503494263,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and light-colored pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: center, slightly left, partially occluded by tree branches; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a black car to the left of the target \n5. Summary: person wearing dark top and light pants with a backpack, moving left in frame, located in the center-left of the view, partially occluded by tree branches, with a black car to the left and another pedestrian to the right front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002440/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002440/lidar.bin",
"others": [
{
"bbox_3d_other": [
8.333369595030874,
2.6456734765306464,
-1.4488709921346266,
4.514540846866222,
1.937111839494089,
1.6168840899869197,
-0.04301920939623294
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.0723006724647632,
2.8110261420381732,
-1.3841164680386677,
4.439212391550713,
1.9487787496484752,
1.7050030617250436,
-0.024053235142162066
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.543817520141602,
5.974947452545166,
-1.093612551689148,
0.804230272769928,
0.7672605514526367,
1.7170751094818115,
3.1581482887268066
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.713122367858887,
5.630337715148926,
-1.0349788665771484,
0.8238574862480164,
0.7871758937835693,
1.7880051136016846,
2.889540672302246
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.97614103093227,
-1.6992887707464206,
-1.1535050680822534,
0.8447631556275147,
0.7921343599440716,
1.7665174505357226,
-2.2638865051656882
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.866609139316623,
-4.847605416151794,
-1.2333764750199114,
0.7950584082869178,
0.7786802941195121,
1.7923752431994933,
-3.6374292400140837
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.139704542265207,
-4.511806580591184,
-1.3146634062353781,
0.8128481425611332,
0.787852476427667,
1.8091347574422374,
-0.5741128569646463
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.54595567010145,
-4.998127154437498,
-1.1314666223564094,
0.765634322019874,
0.7519910125458827,
1.8213706114253059,
-3.5348192904745646
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998351567546132,
-0.006629928282965682,
-0.01690276215418274,
-88.50591653578641
],
[
0.007900051619268237,
-0.9970597915331728,
-0.0762191661738635,
181.2731980699645
],
[
-0.016347736904264085,
-0.07634013465267699,
0.9969478097369591,
11.904210708377361
],
[
0,
0,
0,
1
]
],
"timestamp": 712
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002440/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
0,
376,
32,
477
],
"bbox_3d": [
18.857856178012383,
10.852093336677713,
-0.9970363361346894,
0.7559813715590942,
0.7158575010110478,
1.6744443137736997,
-4.368128050255931,
0.6241160035133362,
2
],
"class": "pedestrian",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003180/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003180/lidar.bin",
"others": [
{
"bbox_3d_other": [
1.6089744057758821,
2.761656159601017,
-1.394247934189803,
4.404005908052053,
1.9412777531361944,
1.6977356030408448,
-0.011973469361700406
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.110644479554011,
2.6708409934620647,
-1.4487343970729152,
4.492288904743275,
1.933289370473423,
1.6288949943163844,
-0.027648258310107643
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.967151641845703,
-4.957674503326416,
-1.1346299648284912,
0.7725009322166443,
0.7569760680198669,
1.8158049583435059,
-3.5421671867370605
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.27867889404297,
8.171048164367676,
-0.9696372747421265,
0.7884179353713989,
0.7414391040802002,
1.6590205430984497,
4.4599127769470215
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.213651657104492,
-7.09712028503418,
-1.0230655670166016,
0.8232625126838684,
0.7860702872276306,
1.8171952962875366,
-9.47085952758789
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.02729606628418,
-5.8238677978515625,
-1.0295240879058838,
0.7610654830932617,
0.7477513551712036,
1.8434025049209595,
9.375555038452148
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.669136871645364,
-5.236717812098561,
-1.1564740533954814,
0.8052314353241643,
0.7715662270078181,
1.7568434901563454,
-3.0954241458389515
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.279567776247433,
-4.850663661742431,
-1.2210871285183018,
0.7919959603306669,
0.7710888244005635,
1.7755118088520314,
-3.4801853548708035
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9994021364032155,
-0.031491221707154037,
-0.014271394748934421,
-88.468281430332
],
[
0.032499878707293824,
-0.9964979364058797,
-0.07704297906256644,
181.6084810106567
],
[
-0.011795237882307949,
-0.07746073646832136,
0.9969256274512586,
11.74615352912038
],
[
0,
0,
0,
1
]
],
"timestamp": 2537
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003180/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
37,
333,
213,
633
],
"bbox_3d": [
7.74473795358608,
3.473604392340965,
-0.7932652161718767,
1.0172901368914626,
0.8404485677803697,
1.8334671998175767,
0.004961748969747992,
0.9033411145210266,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: left-center, slightly left of the tree trunk, partially occluded by the tree trunk; back to observer \n4. Relationship with surrounding objects: a pedestrian crossing the street to the right front of the target, a bicycle to the left of the target \n5. Summary: person wearing dark clothes and a backpack, seen from the back, moving left in frame, partially occluded by a tree trunk, with a pedestrian crossing and a bicycle nearby"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002138/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002138/lidar.bin",
"others": [
{
"bbox_3d_other": [
32.538631439208984,
-9.117069244384766,
-1.562700629234314,
4.586231708526611,
1.97118079662323,
1.6051727533340454,
-8.103456497192383
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.986885070800781,
-2.4732415676116943,
-1.4663856029510498,
4.944018363952637,
2.041372537612915,
1.6528116464614868,
6.257692337036133
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.52723503112793,
11.741962432861328,
-0.752568244934082,
4.536420822143555,
1.9479140043258667,
1.6053361892700195,
1.523780107498169
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.342295169830322,
-2.070918321609497,
-1.528008222579956,
4.488367080688477,
1.9336405992507935,
1.5914167165756226,
6.156683921813965
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.86804412422262,
-6.029376642371069,
-1.758551027939263,
4.393490333897841,
1.9212764648596845,
1.5814007952888094,
-0.01478759133575469
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.096227000066591,
-5.8956300371493775,
-1.573512682223539,
4.640199269731718,
1.9893066551938738,
1.6878675356422201,
-0.056676257375172234
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.310433387756348,
5.2327752113342285,
-0.8187175393104553,
0.8940917253494263,
0.7765974998474121,
1.6663740873336792,
-6.448408603668213
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.555875778198242,
-2.009528875350952,
-1.3071330785751343,
0.8545672297477722,
0.8037107586860657,
1.7423239946365356,
1.7995645999908447
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.17371940612793,
3.28117036819458,
-0.9131526350975037,
0.8779132962226868,
0.8151163458824158,
1.8043272495269775,
8.655330657958984
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.598888397216797,
6.749462604522705,
-0.5581465363502502,
0.791553258895874,
0.7660659551620483,
1.810926079750061,
-5.495972156524658
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.35182297106519,
7.871611535956385,
-0.5232823640068596,
0.7744955575171975,
0.7487759178102668,
1.7885669992306377,
-2.4716229253074316
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.090211484610506,
-10.025858822424187,
-1.7244626125866356,
0.8724084928375268,
0.8245999661036687,
1.73634947465619,
-0.3147225809795411
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
22.56207126731215,
-1.4613129037361396,
-1.1700620981005652,
0.8497375862939017,
0.7997822199548994,
1.75144054208483,
-4.301972163555604
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0012453881940437395,
-0.9977592340980092,
-0.06689514018522212,
18.722626246954142
],
[
0.9976655649878646,
0.005807164437028223,
-0.06804187885887883,
147.70207849734817
],
[
0.0682778840159181,
-0.06665423927520064,
0.99543726218228,
9.919009052675028
],
[
0,
0,
0,
1
]
],
"timestamp": 317
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002138/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
943,
404,
1078,
529
],
"bbox_3d": [
19.26203508492603,
-5.6437953659225855,
-1.554442911056114,
4.399895179467123,
1.9270693332445425,
1.6351744830608368,
-0.3048602851261273,
0.6518546342849731,
1
],
"class": "car",
"description": "1. Appearance: car, dark green, with visible rear lights\n2. Motion state: stationary\n3. Position to viewer: bottom-right, near the right edge of the view, partially occluded by a white tent structure; rear facing observer\n4. Relationship with surrounding objects: a white tent to the left of the target, a metal barrier to the left of the target, target is on a street\n5. Summary: dark green car, rear facing observer, stationary, located at the bottom-right near a white tent and metal barrier"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001051/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001051/lidar.bin",
"others": [
{
"bbox_3d_other": [
26.25921630859375,
-2.2856216430664062,
-0.6205248236656189,
8.83909797668457,
2.9036993980407715,
3.310783624649048,
6.266526222229004
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.6268093086548,
-1.108909391567387,
-1.4072004519146903,
4.487463075272508,
1.9375658219953642,
1.6209805636619072,
-0.08485598837462938
],
"class_other": "Car"
},
{
"bbox_3d_other": [
45.97443371252808,
10.897078855776016,
-0.8856841759436471,
4.487399842069783,
1.9480839525366764,
1.6231549516637291,
1.5742981380578855
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.332513618939373,
-6.025626131200545,
-1.5731524045611216,
4.4458601558456845,
1.9388377076178411,
1.6219297658457223,
-0.06507640110822699
],
"class_other": "Car"
}
],
"pose": [
[
0.033851891115313115,
-0.9981673625816877,
-0.05015940335206195,
18.72782810773001
],
[
0.9971453703341263,
0.037121289187758866,
-0.06575043962025884,
128.62453948741063
],
[
0.0674919246216576,
-0.04779044010842164,
0.9965745902565989,
8.389561419704817
],
[
0,
0,
0,
1
]
],
"timestamp": 2187
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001051/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
944,
420,
1185,
591
],
"bbox_3d": [
15.450482434901105,
-5.049081697654032,
-1.7113490192251553,
4.416030843613717,
1.9479771641632273,
1.6841542471517155,
-0.028997711637055,
0.9594008326530457,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark-colored, rear lights illuminated\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a white van to the left front of the target, a building to the right of the target\n5. Summary: dark-colored SUV parked on the right side of the street, rear facing observer, with illuminated rear lights, located near a white van and a building"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000664/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000664/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.80213165283203,
-5.16922664642334,
-1.4574716091156006,
4.980210304260254,
2.1251704692840576,
1.9305418729782104,
-6.24315071105957
],
"class_other": "Car"
}
],
"pose": [
[
-0.024347513855788427,
0.9985456120639261,
0.0481025903348378,
-156.82974704216682
],
[
-0.9982569780742815,
-0.0216965632558605,
-0.054884103972714524,
155.88165364469504
],
[
-0.05376062030004383,
-0.049355037947138525,
0.9973333825427639,
9.941491850385809
],
[
0,
0,
0,
1
]
],
"timestamp": 1234
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000664/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
308,
403,
412,
590
],
"bbox_3d": [
12.006856396719826,
2.842751482768843,
-1.2941661141579779,
0.8230854921131506,
0.7802866808650036,
1.7289425305429478,
-4.724025694880386,
0.9829390048980713,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing white top and dark pants, with a red backpack\n2. Motion state: moving left in frame\n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by the person in front; side profile facing observer\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white bus to the right rear of the target\n5. Summary: person wearing white top and dark pants with a red backpack, moving left in frame, located at center-left of the view, side profile facing observer, with a pedestrian to the right front and a white bus to the right rear."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002661/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002661/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.78691864013672,
-4.0347795486450195,
-0.07147242873907089,
9.966411590576172,
2.9396913051605225,
3.55245304107666,
6.266142845153809
],
"class_other": "Car"
},
{
"bbox_3d_other": [
34.135535132330745,
-0.2799979358640883,
-0.4676817245244256,
10.291845644362876,
2.9572182985935176,
3.428186223822052,
-6.232411465844622
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.578975399378763,
-5.975118514149472,
-1.3655763534868712,
4.887819252985549,
2.0579792993615724,
1.738723834764576,
-5.083779143511743
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.368037223815918,
0.41395044326782227,
-1.230628252029419,
0.8244069814682007,
0.792773962020874,
1.8098626136779785,
4.93490743637085
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.268159866333008,
2.7856838703155518,
-1.2922008037567139,
0.807027280330658,
0.7740679383277893,
1.7062981128692627,
7.960253715515137
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.082979202270508,
5.872544288635254,
-1.0176186561584473,
0.8647920489311218,
0.8112219572067261,
1.8504748344421387,
9.851591110229492
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999149791694583,
-0.008455597362454699,
-0.009926595881084712,
-96.3737667849413
],
[
0.009248614805677255,
-0.9965259080387882,
-0.08276821691715575,
181.41531103572214
],
[
-0.009192255257472255,
-0.08285298715624675,
0.9965193851413874,
11.866746167017576
],
[
0,
0,
0,
1
]
],
"timestamp": 1036
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002661/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
482,
386,
599,
481
],
"bbox_3d": [
27.151673538181523,
2.324790614653999,
-1.3774683698832106,
4.579010455334773,
2.011298610538733,
1.8160006765459404,
-0.021942871435117084,
0.5625433921813965,
1
],
"class": "car",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001262/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001262/lidar.bin",
"others": [
{
"bbox_3d_other": [
7.365325935202613,
2.918105096186281,
-1.3434868966576943,
4.817056791499743,
2.0650704967101916,
1.8592917818741455,
-0.03135626652632695
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.417533862872396,
2.6347278586039806,
-1.2408978279082699,
4.936066555701055,
2.1371779690903683,
2.0392797792041866,
-0.041280543968653216
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.697556495666504,
-7.978720664978027,
-1.2641421556472778,
0.8430077433586121,
0.792231023311615,
1.7220642566680908,
-6.489338397979736
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.81861114501953,
-10.249650955200195,
-1.1769627332687378,
0.7586113810539246,
0.7399250268936157,
1.7500925064086914,
2.4574456214904785
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9995228682644514,
-0.03038508238943293,
0.005548205528972278,
-25.631316147573514
],
[
0.029931673558913963,
-0.9971783861496551,
-0.06884301790255909,
178.77388128316198
],
[
0.0076243514063136335,
-0.06864410363721588,
0.9976120770627611,
11.885770298898038
],
[
0,
0,
0,
1
]
],
"timestamp": 2459
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001262/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1138,
405,
1272,
644
],
"bbox_3d": [
9.246568316852446,
-4.384852727688654,
-1.3296420494147547,
0.8795149553584707,
0.8290186072052932,
1.7975849560179031,
-5.444120227179979,
0.9913080930709839,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing black top and white pants, with long dark hair \n2. Motion state: moving left in frame \n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; side profile facing observer \n4. Relationship with surrounding objects: a white car to the left front of the target, a pedestrian to the left front of the target \n5. Summary: person wearing black top and white pants, with long dark hair, moving left in frame, side profile facing observer, located at bottom-right near the right edge of the view, with a white car and another pedestrian to the left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002432/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002432/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.634910583496094,
-4.155327320098877,
-0.006455723196268082,
9.81960391998291,
2.9668123722076416,
3.5993824005126953,
6.247084617614746
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.51309331812317,
-0.29249659167066966,
-1.124165010223861,
4.574304750025298,
1.9728279525301162,
1.7178914049507645,
0.0071673280263722106
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.19941483539668,
0.3792258249291649,
-1.1995836483885163,
0.9843909853758228,
0.8397973181621419,
1.7918713913385853,
-1.9591683087114686
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.474429021043647,
3.555317269353054,
-1.1164606055770716,
0.8615450553372285,
0.8040901669557434,
1.810438450253671,
-3.3521378985470136
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998659110892126,
-0.009039545052612527,
-0.01365454015998268,
-95.68290952142969
],
[
0.010113638049409101,
-0.9966823460410709,
-0.08075899587954707,
181.40919015043167
],
[
-0.012879214539106641,
-0.08088626407066249,
0.9966401246776826,
11.868609108814098
],
[
0,
0,
0,
1
]
],
"timestamp": 736
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002432/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
896,
458,
1279,
799
],
"bbox_3d": [
5.753957997730199,
-2.196514846433409,
-1.525039267636851,
4.514220604175304,
1.9501597640167836,
1.6179216125704516,
-0.15092788727282525,
0.987196683883667,
1
],
"class": "car",
"description": "1. Appearance: sedan, black, with visible rear lights and a reflective surface\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, side facing observer; partially occluded by the edge of the frame, rear of the car is visible\n4. Relationship with surrounding objects: a black sedan is in front of the target, a white car is to the left of the target, a pedestrian is to the left of the target\n5. Summary: black sedan, stationary, located at the bottom-right of the view, rear and side facing observer, partially occluded by frame edge, with a black sedan in front and a white car to the left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000179/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000179/lidar.bin",
"others": [
{
"bbox_3d_other": [
16.80929946899414,
-6.1946702003479,
-1.7769235372543335,
4.4184722900390625,
1.9294692277908325,
1.585996150970459,
-0.11828422546386719
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.79343032836914,
-2.487947463989258,
-1.5300486087799072,
4.702551364898682,
1.9844720363616943,
1.6115995645523071,
-0.017623603343963623
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.99369183554768,
-5.968244700031146,
-1.617625335188348,
4.613985757956251,
1.9942321922826356,
1.6934313444656963,
-0.008570655841143138
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.477375236532396,
11.643905930607936,
-0.6101660648613296,
4.576733953750828,
1.9589174750975733,
1.6033114057027016,
1.5404227469543446
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.434555053710938,
-2.9778594970703125,
-1.208728551864624,
0.8709912300109863,
0.8144437074661255,
1.7946468591690063,
1.5742199420928955
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.221933364868164,
9.794272422790527,
-0.3798046410083771,
0.7764540910720825,
0.7415233254432678,
1.780505657196045,
3.837256908416748
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.211881637573242,
7.816535949707031,
-0.4437235891819,
0.8062514662742615,
0.7716372609138489,
1.8227094411849976,
7.580028057098389
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.949910095690228,
2.1115050964871003,
-1.1004958052737162,
0.7810028601543126,
0.7459022905505021,
1.731001715913044,
-4.4942464743489525
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.212933029337137,
6.604587553220526,
-0.46531572576780533,
0.8061224260398917,
0.7797446594680647,
1.8909009932647123,
0.7396216967831477
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.302091755631352,
1.635900012809035,
-1.1136341743456408,
0.7882713287465261,
0.7541552814304663,
1.7412978988013705,
-4.452902237119968
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.440886298645722,
7.097727993489073,
-0.48624266049810716,
0.76941333173392,
0.7491609671672808,
1.8393859961056973,
1.152826690798455
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.533917659821498,
3.3209858214768317,
-0.8163926731474689,
1.0157426549605826,
0.8583200036990087,
1.8584239639018798,
-0.04404470464732935
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.003682424522893135,
-0.9970860189608881,
-0.07619652578931031,
18.707015209311106
],
[
0.9976505730094083,
0.0015494718466401158,
-0.06849038845703809,
148.9182180023989
],
[
0.06840887313523518,
-0.07626971830106824,
0.994737732342874,
9.997498357506128
],
[
0,
0,
0,
1
]
],
"timestamp": 348
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000179/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
813,
392,
914,
468
],
"bbox_3d": [
32.99577735826238,
-5.45564455578501,
-1.6511188932277425,
4.755729486118646,
2.0433241298541294,
1.7416434712639641,
-0.025633498205971085,
0.8661330938339233,
1
],
"class": "car",
"description": "1. Appearance: pickup truck, dark color, with a visible rear cargo bed and tailgate\n2. Motion state: stationary\n3. Position to viewer: center-right, slightly right of the center of the view, near the right edge of the view; rear facing observer, with the rear of the truck clearly visible; the target is partially occluded by the green bounding box and appears slightly blurred\n4. Relationship with surrounding objects: a white bus is ahead of the target, a pedestrian is to the left front of the target, and a tall building is to the right of the target\n5. Summary: A dark pickup truck is stationary in the center-right of the view, rear facing the observer, with a white bus ahead and a pedestrian to the left front; the truck is partially occluded and slightly blurred."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001910/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001910/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.921294164751451,
-5.460282141361823,
-1.6885511711466714,
4.594725743249799,
1.986173766532204,
1.6776893347280513,
-0.003222620802714689
],
"class_other": "Car"
}
],
"pose": [
[
0.9987768336437122,
0.04853147741914638,
0.009462149658251267,
-62.45848884062363
],
[
-0.04870697876631406,
0.9986267246465355,
0.019294948592576536,
1.9489422044180902
],
[
-0.00851274315941058,
-0.01973222038309993,
0.9997690596746103,
0.4410362063166045
],
[
0,
0,
0,
1
]
],
"timestamp": 3591
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001910/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1029,
228,
1279,
737
],
"bbox_3d": [
10.128635930575513,
-5.428007941823665,
-0.8292884569125714,
7.265986993145558,
2.7372222734374194,
3.0498021089637875,
-0.0515373777575292,
0.9454631805419922,
1
],
"class": "car",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000676/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000676/lidar.bin",
"others": [
{
"bbox_3d_other": [
36.25496959313699,
-2.051621462618016,
-0.5177061016762288,
8.917171088598108,
2.865120162246048,
3.3103634234397643,
-0.03214635898546381
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.384301934971717,
-5.7673370007914,
-0.6764772700051367,
5.374196759320579,
2.2220718064333225,
2.1464017433799896,
3.1300829339216536
],
"class_other": "Car"
}
],
"pose": [
[
-0.01030084810011217,
0.9989406709302632,
0.04484895193663107,
-157.89689394703794
],
[
-0.9972599176379978,
-0.0069769933705750575,
-0.07364766280175443,
125.95913539852509
],
[
-0.07325673485129122,
-0.045484695501924376,
0.9962753601660661,
8.113993733081722
],
[
0,
0,
0,
1
]
],
"timestamp": 1272
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000676/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
0,
386,
44,
544
],
"bbox_3d": [
12.374333913562197,
7.198614135617927,
-1.1013333496829283,
0.7572322729115628,
0.7273008524076637,
1.6857753586865987,
-5.426278939120298,
0.5,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark bottom, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: top-left, near the left edge of the view, partially occluded by the green bounding box; back to observer \n4. Relationship with surrounding objects: a pedestrian on a bicycle to the right front of the target, a white car to the right \n5. Summary: person with backpack, back to observer, moving left in frame, located at top-left of view, partially occluded, near a pedestrian on a bicycle and a white car to the right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003224/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003224/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.36054202003875,
-3.7583464538656415,
-0.003952453123204025,
9.338017888484893,
2.8930876441200315,
3.4764757527961714,
-0.019916803833013752
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.90616406095971,
-2.145592723525084,
-1.2361878538437303,
4.808915248395396,
2.0331599078056084,
1.7619637076418775,
-5.683178321979817
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.305046081542969,
2.2987170219421387,
-1.2504149675369263,
0.8488399982452393,
0.8028846383094788,
1.7400548458099365,
-4.864035606384277
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
6.62830114364624,
1.2246103286743164,
-1.2435191869735718,
1.0565482378005981,
0.84569251537323,
1.8062318563461304,
6.120014190673828
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.666394448266203,
0.9498487683356132,
-1.2075465153711689,
0.820348493501244,
0.789759108337525,
1.8065201643517008,
-4.956113576303629
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993066961188758,
-0.035834312294293416,
-0.010100948191735439,
-94.5076897890367
],
[
0.03653007387499996,
-0.9961118237287653,
-0.08016725223207162,
181.88158019277924
],
[
-0.007188935572399915,
-0.08048066034861169,
0.9967302456107106,
11.729659000792221
],
[
0,
0,
0,
1
]
],
"timestamp": 2656
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003224/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
816,
382,
930,
461
],
"bbox_3d": [
30.108382511036428,
-5.194579555982642,
-1.3105023708325154,
4.390979290008545,
1.9300875663757324,
1.6864105463027954,
6.307541243720792,
0.9812421798706055,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, with visible rear lights\n2. Motion state: stationary\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer; cannot clearly determine\n4. Relationship with surrounding objects: a red car to the right front of the target, a white bus to the left rear of the target\n5. Summary: dark-colored car, rear facing observer, stationary in the center-right of the view, with a red car to its right front and a white bus to its left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001665/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001665/lidar.bin",
"others": [
{
"bbox_3d_other": [
49.103713177068414,
-7.890257474158233,
-0.7472640221160542,
10.082621574401855,
2.9740304946899414,
3.335240364074707,
4.574185244727872
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.451489056704503,
-5.087577232410922,
-1.586179369058378,
4.480908570051323,
1.923587042524292,
1.5887999527962355,
-0.001249644518557691
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.440292719868935,
-1.1157272227895874,
-1.096166700701147,
4.942829690267325,
2.083876453501524,
1.8696675723690028,
-0.02296931426552784
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.232100617792923,
-5.170430732530605,
-1.3564855840840409,
4.497737631750417,
1.9812530209160648,
1.8289225250258632,
0.0350236985375898
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.49928262006351,
-0.9488473423564585,
-1.355796171739275,
4.500342371092133,
1.9254582542644296,
1.5941489158298663,
-0.02748895522214978
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.13689422607422,
7.791019439697266,
-0.5910922288894653,
0.8280086517333984,
0.7604533433914185,
1.6727969646453857,
3.1440603733062744
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.06031112753705181,
0.9967005547110211,
0.05431916912060181,
-158.61209374341024
],
[
-0.996083554524947,
-0.05657053645646859,
-0.0679509147103596,
105.48064733698119
],
[
-0.0646538498479146,
-0.05820462733984661,
0.9962088641726057,
6.8369696080143525
],
[
0,
0,
0,
1
]
],
"timestamp": 3100
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001665/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
993,
418,
1272,
619
],
"bbox_3d": [
13.507905179949663,
-5.184225848099885,
-1.6289941699662878,
4.775628158772577,
2.0168650109677038,
1.683717921488734,
-0.09388036726043669,
0.998140275478363,
1
],
"class": "car",
"description": "1. Appearance: car, light green, with a yellow taxi sign on the roof\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, with visible taillights and license plate; partially occluded by the right edge of the view\n4. Relationship with surrounding objects: a black car to the left front of the target, a white car to the left rear of the target\n5. Summary: light green taxi car with a yellow roof sign, stationary in the bottom-right of the view, rear facing observer, partially occluded by the right edge, with a black car to its left front and a white car to its left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001828/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001828/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.32345199584961,
10.735808372497559,
-1.161922812461853,
4.769373893737793,
2.0399603843688965,
1.7623506784439087,
1.2038826942443848
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.414838790893555,
-5.630587577819824,
-1.578691005706787,
4.59901762008667,
2.0084073543548584,
1.7576736211776733,
6.133908748626709
],
"class_other": "Car"
},
{
"bbox_3d_other": [
37.339057402188715,
0.5715930244264769,
-1.3094674329696288,
4.943986979082706,
2.1104489600724547,
1.888564255547599,
0.2784391595953408
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.08958861087501,
-1.843271237949864,
-1.5557420501207,
4.653757332958003,
1.9963861277123969,
1.6674233402723306,
-0.035217743241956034
],
"class_other": "Car"
}
],
"pose": [
[
-0.02969953078998472,
0.9987640775808413,
0.03985291965397205,
-162.55344001101358
],
[
-0.9982973808836808,
-0.02763598592303146,
-0.05136722304003984,
49.36968693116225
],
[
-0.050202362410925856,
-0.04131064773340174,
0.997884338584492,
3.7624691407953215
],
[
0,
0,
0,
1
]
],
"timestamp": 3316
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001828/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
1058,
431,
1279,
602
],
"bbox_3d": [
14.427541026479817,
-6.381458927392597,
-1.7990250716919096,
4.337353812236108,
1.9064496754192966,
1.5763150114298474,
-0.06116366308512222,
0.9866320490837097,
1
],
"class": "car",
"description": "There is no describable object within the specified bounding box."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000163/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000163/lidar.bin",
"others": [
{
"bbox_3d_other": [
3.8662959260481102,
-2.420246578476487,
-1.6047778492676343,
4.478485125384687,
1.9715277264432036,
1.665601096245637,
-0.04519275351954333
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.611367641401017,
-2.6878148045119588,
-1.5148022689277654,
4.902909107617367,
2.033057216674706,
1.6491951714426956,
-0.04746769649390137
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.082032314603708,
-6.0983656984615955,
-1.7017068460073066,
4.480862409571763,
1.9571235627310954,
1.6341488175754264,
-0.011504779835138867
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.334012682468995,
11.348078770324573,
-0.9505200144368464,
4.485534641715908,
1.943336669342641,
1.6106620230251327,
1.5435064116684836
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.556859016418457,
1.2531639337539673,
-1.121623158454895,
1.010542869567871,
0.8267178535461426,
1.7674901485443115,
5.695132255554199
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.358474731445312,
6.933023452758789,
-0.679777204990387,
0.7475375533103943,
0.7318969368934631,
1.791164517402649,
1.1950117349624634
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.64634925717155,
1.919648091115004,
-1.0085300060696252,
0.8532232625967012,
0.8070366268343717,
1.8429381905716689,
-4.713026050593161
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.193180638338447,
6.647207830922753,
-0.6165074269732642,
0.7841203869127392,
0.7617531982094062,
1.8588977728578393,
0.6818520648611321
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.515903422380006,
-10.081677765615172,
-1.614609839486362,
0.8407980145067447,
0.8169392152253488,
1.7985969775285966,
-0.09113205376633227
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.723501745615067,
6.333084191438795,
-0.857742617767828,
0.8596031633005838,
0.7873710827196025,
1.7364094696360637,
-4.580005987368013
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.01777480593164138,
-0.9978416518719895,
-0.0632146665218746,
18.722971558752327
],
[
0.9972647274200444,
-0.013156847544025574,
-0.07273211674719651,
151.17615292271043
],
[
0.07174342978919424,
-0.06433455643806518,
0.9953461433742536,
10.166160489040301
],
[
0,
0,
0,
1
]
],
"timestamp": 384
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000163/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
980,
448,
1279,
799
],
"bbox_3d": [
7.637863614756774,
-3.802908127465898,
-1.5962079860957399,
4.537772899214426,
1.9449073603505391,
1.5907896788698566,
0.1072208634945504,
0.9929207563400269,
1
],
"class": "car",
"description": "1. Appearance: car, dark blue, four-door sedan\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; side facing observer, rear facing observer; partially occluded by the right edge of the view\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the left of the target\n5. Summary: dark blue four-door sedan, stationary, located at the bottom-right of the view, side and rear facing observer, partially occluded by the right edge, with a pedestrian and a white car nearby"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001019/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001019/lidar.bin",
"others": [
{
"bbox_3d_other": [
16.237016677856445,
-7.646336555480957,
-1.3246548175811768,
0.8592578768730164,
0.8184781074523926,
1.8177872896194458,
-6.701414108276367
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.025660690030207,
-5.953808093232498,
-1.525239999653364,
0.8629362483819326,
0.8048150638739268,
1.7532380521297455,
-1.5760025689255879
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.07456360968387343,
-0.9968887522547478,
-0.025555503103692114,
13.939710516298856
],
[
0.9947159702797295,
0.07616581769334796,
-0.06883971735531613,
12.584985970619982
],
[
0.07057199573036821,
-0.02028752925014578,
0.9973003607617703,
0.675197806273531
],
[
0,
0,
0,
1
]
],
"timestamp": 1942
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001019/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.