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": [
352,
420,
500,
668
],
"bbox_3d": [
9.89715238702852,
1.8016840311910869,
-1.4332017886887627,
0.8986675842143823,
0.8501392463301509,
1.8409944021734126,
-0.2248009315818864,
0.9664756655693054,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack\n2. Motion state: stationary\n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a cart in the foreground; side profile facing observer\n4. Relationship with surrounding objects: a person standing on the sidewalk to the right of the target, a white delivery truck to the right of the target\n5. Summary: person wearing dark clothes and a backpack, standing on the left-center of the view, side profile facing observer, partially occluded by a cart, with a person and a white truck 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/002339/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002339/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.576778800038625,
1.6433088710686263,
-1.4083706198855488,
0.8089909834043446,
0.7851795322656805,
1.7614958302659405,
1.1931459087297624
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.81016968035209,
1.5282786569008806,
-1.567104297231598,
0.873976885295305,
0.8216610719434551,
1.7331519845079204,
-0.08052670125799954
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.21141173465356627,
-0.9766877952777739,
-0.037229410500451504,
19.4409001707332
],
[
0.9742781990834037,
-0.20754366092385862,
-0.08779304984520019,
169.63074591822104
],
[
0.07801967214471943,
-0.05483228397361743,
0.9954427916222344,
11.64340971547797
],
[
0,
0,
0,
1
]
],
"timestamp": 545
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002339/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": [
321,
411,
516,
556
],
"bbox_3d": [
17.100956934387845,
3.0731998638607827,
-1.5204063856038417,
4.285532020477159,
1.8847752886169011,
1.6037535688260611,
-0.007332727973825559,
0.9908138513565063,
1
],
"class": "car",
"description": "1. Appearance: car, dark green, rear facing observer\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by a white van in the foreground; rear facing observer, with the rear of the car visible\n4. Relationship with surrounding objects: a white van to the left front of the target, a black car to the right front of the target\n5. Summary: dark green car, rear facing observer, stationary, located in the center-left of the view, partially occluded by a white van, 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/000403/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000403/lidar.bin",
"others": [
{
"bbox_3d_other": [
11.078632354736328,
3.2541277408599854,
-1.1016864776611328,
4.562104225158691,
1.9974918365478516,
1.9135996103286743,
0.022214174270629883
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.522466422770215,
2.833901057231458,
-1.4821879656793249,
4.505620937557511,
1.9797611037557148,
1.7185604510232664,
-6.2525756811661015
],
"class_other": "Car"
},
{
"bbox_3d_other": [
-1.7927932801687163,
3.0269049717377925,
-1.0866893357725282,
5.14234510291748,
2.1788207903749552,
2.158010008870987,
0.012015848820461361
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.485179751246783,
3.0651523104326373,
-1.1191969833710302,
5.173510321975989,
2.1768960969660602,
2.074671573915945,
-0.02488303923679558
],
"class_other": "Car"
}
],
"pose": [
[
-0.999598959737753,
-0.028300304857173015,
-0.0010061988833843143,
-43.15343968565814
],
[
0.028305048957246278,
-0.9974221029195505,
-0.06593915992086612,
180.08158092414453
],
[
0.0008624933215659095,
-0.06594119617153403,
0.9978231380123121,
12.207154895989776
],
[
0,
0,
0,
1
]
],
"timestamp": 651
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000403/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": [
763,
407,
855,
564
],
"bbox_3d": [
14.881440830400363,
-1.815143448128616,
-1.4538418417359917,
0.7936146940696297,
0.7725457391841098,
1.7578964810251798,
-2.2782287336409084,
0.9382451176643372,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing light-colored top and dark pants, carrying a bag\n2. Motion state: moving left in frame\n3. Position to viewer: right-center, slightly right, near the right edge of the view; side profile facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white truck to the left of the target\n5. Summary: person wearing light top and dark pants, carrying a bag, moving left in frame, located at right-center of the view, side profile facing observer, with a pedestrian to the left front and a white truck 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/002944/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002944/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.423118766934863,
-11.500145226602243,
-1.7182611034075577,
4.7362697369809785,
2.0428002107088714,
1.7314960311001881,
-0.2877272048309629
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.52148386623108,
6.018686957142769,
-1.2107788653284004,
4.538309730045063,
1.985784549025947,
1.7510025335157142,
0.8550350055079865
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.121360778808594,
1.2064485549926758,
-1.147708773612976,
0.8056637644767761,
0.7706513404846191,
1.7790203094482422,
5.385026454925537
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.320629119873047,
-0.5097091794013977,
-1.270984172821045,
0.7738219499588013,
0.7516455054283142,
1.7502671480178833,
-0.8328137397766113
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.364441871643066,
1.2234477996826172,
-1.3736090660095215,
0.8343742489814758,
0.7911367416381836,
1.7331225872039795,
3.077514171600342
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.605067386937577,
-0.019714517764263917,
-1.283575516269741,
0.776886869091372,
0.7591620945528661,
1.7604759301371529,
-0.7044924557808767
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.562451568749594,
-2.240518453654289,
-1.485052929657519,
0.7713610247899128,
0.7563123645321015,
1.7276806933905489,
-2.290981617402715
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.620858422065453,
-1.1452953335703882,
-1.4090990401174226,
0.7436419725418091,
0.7357370853424072,
1.732959508895874,
-0.7070720458474473
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.1968480765915328,
-0.9795225644085988,
-0.04226559542484355,
20.609365005841685
],
[
0.9786370083839464,
-0.19369577427843154,
-0.06893150838331136,
168.47022006533876
],
[
0.05933330062901997,
-0.05493171070594306,
0.9967256726880195,
11.3379552492954
],
[
0,
0,
0,
1
]
],
"timestamp": 2328
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002944/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": [
687,
393,
749,
509
],
"bbox_3d": [
20.040017125907422,
-1.0270563747051966,
-1.3758199114739167,
0.9424233841842505,
0.8362737065366621,
1.7733523093786963,
-0.2183253750595311,
0.9242412447929382,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, riding a bicycle\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right; back to observer\n4. Relationship with surrounding objects: a black car to the right of the target, a white van to the left front of the target\n5. Summary: person riding a bicycle, wearing dark clothes, seen from behind, moving away from camera, located at center-right of the view, with a black car to the right 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/002243/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002243/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.73996925354004,
11.021856307983398,
-1.0375438928604126,
4.563050270080566,
1.9640010595321655,
1.6068356037139893,
4.693960666656494
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.020234978483245,
-6.276303552876225,
-1.7984318380255355,
4.5185495057665745,
1.9506277305444477,
1.5904171490686732,
-0.049492609611982985
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.439394686218947,
-2.866969085278882,
-1.5972133134915913,
4.695209117123427,
1.9953864652507427,
1.6594264341670228,
-0.048573174272141806
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.050582409061661,
-2.8021712862952093,
-1.6119706969832115,
4.566034047442629,
1.9972502605724707,
1.6955887282308846,
-0.07498845844322188
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.114486694335938,
-9.357152938842773,
-1.6916444301605225,
0.8264578580856323,
0.8031989932060242,
1.7560539245605469,
1.6897485256195068
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.758008513615437,
5.459438783389842,
-0.9493711959736535,
0.8747730666827804,
0.8179523991240152,
1.885375153041966,
1.4134715405913654
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.231653621390649,
6.605079352214474,
-0.8115476425806611,
0.7914889689591228,
0.7477065344708154,
1.7517314545673923,
1.0528113092576343
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.013248102692945851,
-0.998109857773496,
-0.06000999575411366,
18.722278734815873
],
[
0.9969645464013649,
-0.00858037593539529,
-0.07738262316261967,
152.61871687463517
],
[
0.07672145067553059,
-0.060853011134855674,
0.9951938153154205,
10.2657650904619
],
[
0,
0,
0,
1
]
],
"timestamp": 412
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002243/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": [
406,
407,
485,
549
],
"bbox_3d": [
15.24085092890491,
2.5310111262686767,
-1.3867721777544455,
0.8000794146505483,
0.7636224262657032,
1.6614821329214684,
1.5311224152956227,
0.8748143315315247,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, sitting on a bench\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by a pole; side profile facing observer\n4. Relationship with surrounding objects: a person walking on the sidewalk to the left front of the target, a white tent to the right of the target\n5. Summary: person sitting on a bench in the center-left of the view, wearing dark clothes, with a person walking and a white tent 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/002892/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002892/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.581050872802734,
6.8743181228637695,
-0.9575017094612122,
0.8010760545730591,
0.7592951059341431,
1.7525488138198853,
3.089373826980591
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.438175884454736,
2.0303827331035915,
-1.394469500571431,
0.8052316934794086,
0.7674986162625839,
1.6987983235751956,
1.2016373570872774
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.116518375608266,
5.595212950750174,
-1.061577316977354,
0.8184614429142009,
0.7786797024155364,
1.7633559598513433,
-3.252880426306648
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.04724849436106088,
-0.9978776125057319,
-0.04480904194995358,
17.72826401236514
],
[
0.9957267907652675,
0.050615139006109866,
-0.07724160702427843,
100.88122008803546
],
[
0.07934568629052045,
-0.04096801390416763,
0.9960049617867544,
6.433412584804929
],
[
0,
0,
0,
1
]
],
"timestamp": 2116
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002892/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": [
659,
321,
801,
489
],
"bbox_3d": [
32.33205797912692,
-1.6756819351839454,
-0.8547181013783383,
11.052191420786393,
3.0137018856162223,
3.539008542728617,
-0.00852497612580616,
0.6545544266700745,
1
],
"class": "car",
"description": "1. Appearance: car, red, with visible rear lights and license plate area\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 green bounding box and appears slightly blurred\n4. Relationship with surrounding objects: a white bus to the left rear of the target, a pedestrian to the left front of the target, a building to the right of the target\n5. Summary: red car, rear facing observer, stationary, located at center-right near the right edge of the view, partially occluded, with a white bus to its left 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/000760/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000760/lidar.bin",
"others": [
{
"bbox_3d_other": [
23.445868600053842,
-5.588173509948859,
-1.8774915092290874,
4.60863291908163,
2.0031603938855187,
1.6815689957002222,
-0.036384004298527506
],
"class_other": "Car"
},
{
"bbox_3d_other": [
30.228843788202866,
-5.7192428323107265,
-1.9232526891597006,
4.464696970966688,
1.966369688204025,
1.664522237409429,
-0.06436300375905502
],
"class_other": "Car"
}
],
"pose": [
[
-0.03216628577493452,
0.9979702750292042,
0.0549605332723375,
-158.35588408125113
],
[
-0.9983204375005056,
-0.029429349103732294,
-0.049902078915912175,
109.49747148299565
],
[
-0.04818333869964301,
-0.05647338815287364,
0.9972407544330959,
7.108564968875977
],
[
0,
0,
0,
1
]
],
"timestamp": 1424
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000760/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": [
693,
403,
896,
561
],
"bbox_3d": [
15.840603384188269,
-1.5856745625559654,
-1.3833756862378053,
4.50158400076842,
1.9209754373728714,
1.575309773908447,
0.031707693853663343,
0.9949662685394287,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with illuminated rear lights and a visible license plate\n2. Motion state: moving away from camera\n3. Position to viewer: center-right, slightly right of the center of the view, partially occluded by the fog; rear facing observer\n4. Relationship with surrounding objects: a dark SUV to the right of the target, a pedestrian to the left front of the target, a black pickup truck to the left of the target\n5. Summary: dark-colored car with illuminated rear lights, moving away from camera, located in the center-right of the view, rear facing observer, with a dark SUV to its right and a pedestrian and black pickup truck 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/001816/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001816/lidar.bin",
"others": [
{
"bbox_3d_other": [
28.009246826171875,
10.860177040100098,
-0.6624868512153625,
4.673052787780762,
2.008993625640869,
1.7353178262710571,
1.208774447441101
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.41043354227033,
-5.264084540264122,
-1.5582266369319306,
4.270640198699493,
1.8766086135141284,
1.5902762306465983,
0.021954774414965517
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.093459805657005,
-5.151020285078175,
-1.572423053050482,
4.659085482903147,
2.0073473260393913,
1.7063283562627716,
-0.11121476302528976
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.530527240167203,
5.214867919661742,
-0.8956672123553684,
0.7593584916702254,
0.7320512298370033,
1.6727109209439786,
3.2251166281322323
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.050042645925661544,
0.9966290022769254,
0.0650105022996997,
-163.27706709889088
],
[
-0.9968241877371783,
-0.04580314281564446,
-0.06514300308033617,
34.10988079893817
],
[
-0.06194572084392817,
-0.06806396938696764,
0.9957560061282164,
2.961055156360622
],
[
0,
0,
0,
1
]
],
"timestamp": 3340
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001816/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": [
51,
366,
248,
438
],
"bbox_3d": [
27.551352344913806,
11.770015636412765,
-0.7672019433319761,
4.490129649063585,
1.9346513885382013,
1.5903183621762553,
1.5272691270280638,
0.9620828628540039,
1
],
"class": "car",
"description": "1. Appearance: car, white, with visible front wheel and side profile\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 person on a bicycle to the left front of the target, a tree to the left of the target\n5. Summary: white car, side facing observer, stationary, located at the top-left of the view, near a person on a bicycle and a tree 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/000220/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000220/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.963469505310059,
-2.4692885875701904,
-1.4655797481536865,
4.946084022521973,
2.0398073196411133,
1.6557676792144775,
6.261434555053711
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.2735449411851505,
-2.038661701397533,
-1.5209159999214352,
4.473311444866866,
1.929369339139863,
1.590187970422617,
-0.13200130334177573
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.85902800911731,
-6.043959851717922,
-1.7613178199811028,
4.395280899985542,
1.922187537674886,
1.5824673574181225,
-0.033562083837257894
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.10509947119752,
-5.898367450458544,
-1.5737943889117119,
4.640199269731718,
1.9889351536474211,
1.6866718405935526,
-0.060060728281863485
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.536796898608344,
-9.255345737833448,
-1.5145267080783096,
4.4974504861560165,
1.9507440706854462,
1.6015212413188742,
-1.8189183871443357
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.282445907592773,
5.2566633224487305,
-0.734792947769165,
0.881733775138855,
0.7948214411735535,
1.763118028640747,
2.8826327323913574
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.303300857543945,
3.1753451824188232,
-0.8961370587348938,
0.8903928399085999,
0.8246138691902161,
1.816658854484558,
2.3298916816711426
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
7.3907060623168945,
3.5019967555999756,
-0.796163022518158,
1.0337027311325073,
0.8361339569091797,
1.829176664352417,
6.257040977478027
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.361047473734146,
7.901107571250153,
-0.5254936044370564,
0.7591277848119351,
0.7354426010356719,
1.7748485465116053,
0.9125277827702438
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.580518425033773,
6.786583492280718,
-0.5669176828717892,
0.7903327923643491,
0.7612895555227266,
1.8130427019817048,
0.7797737428767058
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.012572065206683,
-9.991414281136493,
-1.7040643512212392,
0.8623428979858023,
0.8181820272422228,
1.7386274552736125,
-0.24498248691853597
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
22.277006001521954,
-1.7923057648721574,
-1.2110666494707025,
0.8497375862939017,
0.7997822199548994,
1.75144054208483,
-4.302173422653901
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.584207815537667,
-2.1446688499130673,
-1.3216966936408452,
0.8521469235420227,
0.7984821200370789,
1.730647087097168,
1.8018298859600435
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0010445884809227035,
-0.9977540164796941,
-0.06697634980755593,
18.72219874175139
],
[
0.9976558462260294,
0.005622535140326401,
-0.06819970373558094,
147.69200371842064
],
[
0.06842310520526484,
-0.06674810631946325,
0.9954210008719101,
9.917523988608119
],
[
0,
0,
0,
1
]
],
"timestamp": 316
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000220/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": [
738,
273,
1279,
551
],
"bbox_3d": [
15.579793650141198,
-4.891134166459977,
-0.606850121736203,
7.551905582742682,
2.8069011081821302,
3.2210225979535614,
-4.8357446833400015,
0.9920562505722046,
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/000571/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000571/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.72935104370117,
-4.179621696472168,
-0.06826496869325638,
10.136207580566406,
2.952988862991333,
3.56843638420105,
6.265782833099365
],
"class_other": "Car"
}
],
"pose": [
[
-0.9999165583138042,
-0.008558040133971,
-0.009676588187072257,
-96.36984136337483
],
[
0.009329321469336831,
-0.9965313891440154,
-0.08269313279602494,
181.41476658625015
],
[
-0.00893533271896551,
-0.0827765087435112,
0.9965280775921154,
11.867353536497093
],
[
0,
0,
0,
1
]
],
"timestamp": 946
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000571/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": [
209,
341,
293,
491
],
"bbox_3d": [
14.68438378682196,
4.851080139407207,
-0.6215750818739778,
0.8871336405585919,
0.8019706161176714,
1.7443731491445151,
-3.1342160197090294,
0.977213442325592,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, carrying 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 pedestrian to the right front of the target, a white car to the left rear of the target \n5. Summary: person wearing dark clothes and carrying a backpack, moving left in frame, located at the left-center of the view, partially occluded by a tree, 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/002019/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002019/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.96375846862793,
-6.026226043701172,
-1.616163969039917,
4.380601406097412,
1.9096109867095947,
1.5759477615356445,
6.260918617248535
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.810940265655518,
-2.0460398197174072,
-1.4453123807907104,
4.529411315917969,
1.9333953857421875,
1.5908257961273193,
6.153206825256348
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.859474182128906,
-2.40535831451416,
-1.3961436748504639,
4.571356296539307,
1.9406931400299072,
1.5895276069641113,
6.261080741882324
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.146307686556554,
-5.868772683643275,
-1.4745727625692684,
4.444854093420448,
1.9420689993650377,
1.6515933097226174,
-0.06940063080327619
],
"class_other": "Car"
},
{
"bbox_3d_other": [
40.45916673374839,
-5.397706325523956,
-1.3557581989714669,
4.517730682549403,
1.9482384467146934,
1.618844291762736,
0.2067271137958755
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.893340361429352,
-5.868808710149931,
-1.5157854142092457,
4.3517304734547615,
1.9331959640276708,
1.6939342223335345,
-0.13278964153013484
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.56649542700106,
11.823062170599314,
-0.3892590934416033,
4.629691726796879,
1.9806832015643274,
1.6309239524733286,
1.5243296287361954
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.372962951660156,
7.912180423736572,
-0.3364948332309723,
0.7763104438781738,
0.7455152273178101,
1.732755422592163,
3.9210166931152344
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.64972686767578,
-1.7658480405807495,
-1.1021976470947266,
0.8537890911102295,
0.7960510849952698,
1.7248300313949585,
2.202582597732544
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.24027481163506,
6.787880743176327,
-0.34235354137882207,
0.786340403747732,
0.7555638221667627,
1.7950491787918217,
-2.605932723758703
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0022738331465013695,
-0.9975237002441225,
-0.07029436061375237,
18.70248270134883
],
[
0.9982524847303372,
0.006415096705273793,
-0.05874370829263325,
146.94647992827115
],
[
0.05904918638330146,
-0.07003794675414447,
0.9957950992056217,
9.870283832924255
],
[
0,
0,
0,
1
]
],
"timestamp": 283
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002019/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": [
652,
370,
771,
477
],
"bbox_3d": [
25.541298485600066,
-1.0583713854164785,
-1.0857070316809674,
5.216906318406725,
2.1485306070910504,
1.9139285398868895,
-0.0008555639287319838,
0.9889430403709412,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible rear lights and a rear windshield\n2. Motion state: stationary\n3. Position to viewer: center, slightly right; rear facing observer\n4. Relationship with surrounding objects: a black car to the left front of the target, a red car to the right rear of the target\n5. Summary: dark-colored car, rear facing observer, located in the center-right of the view, with a black car to its left front and a red car 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/001637/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001637/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.92263412475586,
-5.153326511383057,
-1.3957490921020508,
4.455146312713623,
1.966282844543457,
1.8165531158447266,
6.359574794769287
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.290018848510698,
-5.078169543054713,
-1.6045911310214684,
4.445094618851705,
1.9179536065446319,
1.5843217782307475,
-0.006282677602386322
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.86990974929695,
-5.034860382582252,
-1.4610589051671319,
4.427404444606706,
1.9240971892981944,
1.630344012172176,
0.06652515950296611
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.25335434325268,
-0.9294018187760571,
-1.4000755561662945,
4.526394804050093,
1.9383625239908822,
1.602474669730418,
-0.023005876448066287
],
"class_other": "Car"
}
],
"pose": [
[
-0.060333024454334305,
0.9965924462747673,
0.05624430805217365,
-158.67750651331633
],
[
-0.9961354347888092,
-0.056510764049683804,
-0.06723636742590405,
104.43869034922768
],
[
-0.06382884707013668,
-0.06008352165607539,
0.9961505150865009,
6.7707037475559515
],
[
0,
0,
0,
1
]
],
"timestamp": 3188
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001637/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": [
1135,
417,
1221,
576
],
"bbox_3d": [
13.860252155663094,
-6.180001618626022,
-1.6223719333736173,
0.7618472502848468,
0.7641679245216945,
1.7935945948708285,
1.617082446688891,
0.8829473853111267,
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/003447/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003447/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.09930722815605,
-0.6277246029110017,
-1.529980876293549,
4.480689875588361,
1.9408897286009519,
1.614481396833412,
0.005186596345602368
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.390047073364258,
-8.604973793029785,
-1.6046191453933716,
0.8313059210777283,
0.8021163940429688,
1.7671644687652588,
3.1279590129852295
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.850530001328032,
-6.386852644581836,
-1.602395503735468,
0.7587915571016036,
0.7626898061434587,
1.8068376404786188,
1.434388008133564
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.06886770056124741,
0.9967755272989209,
0.04117994654397491,
-161.77582235749333
],
[
-0.9961807601179984,
-0.06648842052565035,
-0.056596670456232935,
64.59880947302518
],
[
-0.05367618643433523,
-0.04492035300353891,
0.9975475070872084,
4.556364347721839
],
[
0,
0,
0,
1
]
],
"timestamp": 3296
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003447/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,
397,
1149,
584
],
"bbox_3d": [
12.101954749404896,
-4.3648629542841775,
-1.3137266301557347,
0.8644892616865816,
0.8179187870057185,
1.7777798493315626,
0.39138151906828456,
0.9660376310348511,
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/003374/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003374/lidar.bin",
"others": [
{
"bbox_3d_other": [
26.24665069580078,
9.388178825378418,
-1.1984052658081055,
4.508767127990723,
1.950404167175293,
1.6529911756515503,
-5.712069511413574
],
"class_other": "Car"
}
],
"pose": [
[
-0.5388411836564558,
0.8422877457135124,
0.014196204301118787,
-152.74641805895354
],
[
-0.8404910895285816,
-0.5364030797727103,
-0.0764621764888326,
175.2336845362579
],
[
-0.05678826655892483,
-0.05313275290440905,
0.9969714155130184,
11.073714503440778
],
[
0,
0,
0,
1
]
],
"timestamp": 2966
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003374/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": [
1118,
409,
1184,
519
],
"bbox_3d": [
19.045020666666932,
-8.004024275894185,
-1.6516768019818286,
0.8165576870388482,
0.7762795847367386,
1.6864630176130981,
0.1355292405454649,
0.9835171103477478,
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/002929/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002929/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.53681182861328,
-1.7961759567260742,
-1.5109574794769287,
4.38328742980957,
1.9110406637191772,
1.5762145519256592,
-0.029599428176879883
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.429449585606562,
3.3004870813667733,
-1.0461597081449672,
4.749377071247205,
2.02905134800679,
1.8086564894244084,
0.6185025368138337
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.032905960667364,
-4.793959271022008,
-1.6431067367667218,
4.486821306174129,
1.9223399485658978,
1.5444904488128572,
0.004092113648133999
],
"class_other": "Car"
},
{
"bbox_3d_other": [
2.255663913379607,
-4.926530467491402,
-1.437308491601455,
4.609322351902046,
1.9999597208760234,
1.7127903821350474,
0.030304212623189164
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.778627395629883,
7.054169654846191,
-0.9066334962844849,
0.8246309757232666,
0.7701958417892456,
1.7544127702713013,
-3.102625608444214
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.928153038024902,
-6.366000652313232,
-1.3985469341278076,
0.7930800318717957,
0.7672438621520996,
1.7292101383209229,
-3.963174819946289
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.06201305794749534,
-0.9971768168512604,
-0.042341192453547824,
20.886512265519276
],
[
0.9957032337066668,
0.06473306542009039,
-0.0662170720238001,
157.71403029627362
],
[
0.06877100428296379,
-0.0380529391204685,
0.9969064764531357,
10.465794381884383
],
[
0,
0,
0,
1
]
],
"timestamp": 2297
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002929/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,
399,
804,
534
],
"bbox_3d": [
18.227233254342984,
-0.9477775727521305,
-1.3912403996783542,
4.491185840237283,
1.9269967393853205,
1.593795491902754,
-0.009231148367804032,
0.9981093406677246,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, with visible rear lights and rear window\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the center of the view; rear facing observer; the car is partially occluded by the green bounding box and appears slightly blurred\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\n5. Summary: dark-colored car, rear facing observer, stationary in the center-right of the view, partially occluded, with a red car to its right rear 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/001702/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001702/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.582895278930664,
-1.0438432693481445,
-1.0192099809646606,
5.393860340118408,
2.1844377517700195,
1.9472614526748657,
-6.2474775314331055
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.301126346468195,
-5.075921729224149,
-1.6106310080704063,
4.434829637924353,
1.9105714903404798,
1.5636726244752808,
0.006086365129465143
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.920848009806036,
-5.160753751214003,
-1.3852608589070492,
4.481843460603007,
1.9751822624284832,
1.8177667222749299,
0.06982404259732733
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.88465662751547,
-5.0767429314870185,
-1.3998778807079564,
4.475986929425709,
1.9452570941423302,
1.6732835261796184,
0.05881973999626933
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.018746814767226,
-10.220996427986904,
-0.9133140809282079,
0.7518055765444892,
0.7520100628479605,
1.9303768227819154,
-0.2720094257208161
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.060241208931188506,
0.9965891366504446,
0.056401147655258936,
-158.6798451064912
],
[
-0.9961287020935984,
-0.05639716228355701,
-0.06743121644820772,
104.43813903193193
],
[
-0.06402035310611609,
-0.060244940008963174,
0.996128476448437,
6.769675652436941
],
[
0,
0,
0,
1
]
],
"timestamp": 3148
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001702/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,
436,
216,
799
],
"bbox_3d": [
5.989398429021942,
2.9024880707030896,
-1.3458271582203913,
0.8543991492266113,
0.808260072877953,
1.7605301752226414,
-3.617305357988312,
0.9891625642776489,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing black top and black pants, holding a leash\n2. Motion state: moving left in frame\n3. Position to viewer: bottom-left, slightly left, near the left edge of the view; side profile facing observer\n4. Relationship with surrounding objects: a dog to the right front of the target, a yellow box to the left of the target, target is on a crosswalk\n5. Summary: person wearing black, holding a leash, moving left in frame on a crosswalk, with a dog to the right front and a yellow box 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/002994/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002994/lidar.bin",
"others": [
{
"bbox_3d_other": [
42.8771159797374,
-16.387635224472582,
-0.855104941868833,
5.02063250173622,
2.128331339588917,
1.9581849591986396,
1.2567325286328057
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.871271133422852,
-7.897155284881592,
-1.6884715557098389,
0.9407605528831482,
0.8282977938652039,
1.7668647766113281,
5.8754706382751465
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.12762451171875,
-0.8875646591186523,
-1.1966955661773682,
0.7986339330673218,
0.7711387872695923,
1.7771402597427368,
-0.7099531888961792
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.72249984741211,
-2.400204658508301,
-1.3765968084335327,
0.831947922706604,
0.7985506653785706,
1.7493447065353394,
6.027853965759277
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.240058248792167,
-4.4618110540509335,
-1.6343813086469634,
0.8202640986112945,
0.7952111397216668,
1.7531555379685804,
-2.167080725646976
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.32582521143607,
-2.6444965574990604,
-1.3909084797982683,
0.8062949117622148,
0.7835840924665188,
1.7759185963478976,
-0.16467054865138775
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.35845505882699,
-5.0452517938533035,
-1.680721375053678,
0.8168057213734163,
0.7877099240902271,
1.741979674775077,
-2.131060797501383
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.500615451227247,
-1.3003724804932872,
-1.3009902800818463,
0.7905241521458526,
0.7704185622096102,
1.7616682118157996,
-0.5150367510744791
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.23513490501629464,
-0.9711193448282653,
-0.04048202741092925,
20.440225937937857
],
[
0.9696771221832616,
-0.2315237909696818,
-0.0782496832544092,
169.10399463370194
],
[
0.06661722868272422,
-0.05765372767955443,
0.9961115361882351,
11.373714227229275
],
[
0,
0,
0,
1
]
],
"timestamp": 2357
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002994/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": [
1214,
264,
1279,
799
],
"bbox_3d": [
6.561595110180177,
-5.936826016678566,
-1.2350140299100332,
5.769608442641829,
2.3819902441272998,
2.4178320040985875,
3.201085133698281,
0.0045495831966400144,
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/000728/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000728/lidar.bin",
"others": [
{
"bbox_3d_other": [
26.156784057617188,
-5.7468390464782715,
-1.6137042045593262,
4.641105651855469,
1.9812114238739014,
1.6495459079742432,
6.272867202758789
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.998871958953387,
-1.8986260377118072,
-0.6297189573636857,
10.044978112177267,
2.904240499911296,
3.313931420987326,
-0.03039536790709274
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.355896261837955,
6.595113180616806,
-0.7068907675761,
0.8481524454598192,
0.780759178013002,
1.7680379184213253,
3.2098979736767257
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.025115660929476924,
0.9981514962911193,
0.05534251555427597,
-158.2297989421904
],
[
-0.9977130171893605,
-0.021552588090538727,
-0.06406419653365504,
112.42748801476172
],
[
-0.06275299918712057,
-0.056824962810364435,
0.996410048471322,
7.281843754674304
],
[
0,
0,
0,
1
]
],
"timestamp": 1308
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000728/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": [
631,
398,
756,
500
],
"bbox_3d": [
23.31268918931862,
-0.6209068131595075,
-1.47438732596788,
4.484292507171631,
1.9310580492019653,
1.583803415298462,
0.04810692070618128,
0.9758235812187195,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, rear lights on\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right, rear facing observer\n4. Relationship with surrounding objects: a yellow car to the right front of the target, a pedestrian to the right of the target\n5. Summary: dark-colored car with rear lights on, moving away from camera, located in the center-right of the view, rear facing observer, with a yellow car to its right front and a pedestrian 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/001806/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001806/lidar.bin",
"others": [
{
"bbox_3d_other": [
51.54779011555221,
5.843658020954194,
-1.1475573931037433,
4.625661849975586,
1.9844425916671753,
1.6978960037231445,
0.9207403778900192
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.818388687841143,
-4.510771222634787,
-1.4670747810588516,
4.63285764146226,
1.9753758070360912,
1.6439180997218974,
-0.035196743607685876
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.300466537475586,
-6.538039207458496,
-1.5243247747421265,
0.7572212219238281,
0.7521706223487854,
1.8109374046325684,
4.628964424133301
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.05773869232458412,
0.9975345331525861,
0.03988857702024175,
-162.00837664345994
],
[
-0.9967039591096299,
-0.05531780526374058,
-0.05933934879986969,
61.46477464008135
],
[
-0.056986501066803016,
-0.0431832790424212,
0.9974405962799531,
4.388806727750364
],
[
0,
0,
0,
1
]
],
"timestamp": 3300
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001806/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": [
391,
293,
587,
503
],
"bbox_3d": [
23.329752261045833,
2.7343631483050883,
-0.5375812996832767,
8.046148300170898,
2.854984998703003,
3.196248769760132,
3.1719855933793317,
0.7535498142242432,
1
],
"class": "car",
"description": "1. Appearance: truck, white, with open rear doors\n2. Motion state: stationary\n3. Position to viewer: center, slightly right; rear facing observer\n4. Relationship with surrounding objects: a silver car to the left front of the target, a black car to the left rear of the target\n5. Summary: white truck with open rear doors, stationary in the center of the road, rear facing observer, with a silver car 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/001216/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001216/lidar.bin",
"others": [
{
"bbox_3d_other": [
7.221085548400879,
2.7956695556640625,
-1.5448094606399536,
4.520415782928467,
1.942452073097229,
1.5923774242401123,
-6.308823108673096
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.75435063739995,
2.913234538491537,
-1.5251398225660755,
4.304739240927633,
1.8888289332025976,
1.5891837802606523,
-0.015876854668309015
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.972294807434082,
-4.807729244232178,
-1.5191469192504883,
0.796871542930603,
0.7751951217651367,
1.6878912448883057,
-1.7381230592727661
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.002466201782227,
9.569950103759766,
-0.9690746665000916,
0.8424214124679565,
0.8011592626571655,
1.8317145109176636,
-6.341012477874756
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.891670227050781,
4.871456623077393,
-1.187989592552185,
0.7850772738456726,
0.7726230025291443,
1.7891597747802734,
2.077737331390381
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.975859492987146,
-8.340566591467308,
-1.1573331701172656,
0.8331596146262628,
0.7942218029896717,
1.806472134967052,
-0.4071627036313359
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9995357040704204,
-0.03025643387754899,
0.003595065710464416,
-2.7705310647196524
],
[
0.029930520296948863,
-0.9970936037822588,
-0.07006075400152238,
177.61577094782032
],
[
0.00570440559593928,
-0.06992062289140029,
0.997536248088898,
11.796099288115085
],
[
0,
0,
0,
1
]
],
"timestamp": 2430
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001216/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": [
501,
391,
604,
466
],
"bbox_3d": [
33.08332812558033,
2.536542490883309,
-1.5691689346557212,
4.60887222707832,
2.0120158512310105,
1.7433293958989802,
-0.07321031404618106,
0.8509621024131775,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible side mirror and part of the front door\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the right edge of the view; side facing observer; cannot clearly determine\n4. Relationship with surrounding objects: a white van to the left front of the target, a pedestrian to the left rear of the target\n5. Summary: dark-colored car parked in the center-right of the street, side facing observer, with a white van to its left front and a pedestrian 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/000391/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000391/lidar.bin",
"others": [
{
"bbox_3d_other": [
21.594186782836914,
2.997769355773926,
-1.0714302062988281,
4.557976722717285,
1.9983558654785156,
1.8344969749450684,
6.248786926269531
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.661074096823675,
2.8642240780853854,
-1.1084637559166053,
5.255237634535849,
2.2169634164072245,
2.2401789401545207,
-0.001672735740627651
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.901872137674054,
2.8587750219585644,
-1.1716129332887943,
5.138658102095973,
2.1789076372907346,
2.0836634853161398,
-0.023506018188519384
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.586376497889802,
2.688295464967325,
-1.568162135871464,
4.367708837513209,
1.9269960925121468,
1.635196212425212,
-0.004336362396817783
],
"class_other": "Car"
},
{
"bbox_3d_other": [
1.6042393355733395,
3.0717049647773536,
-1.3019342789942119,
4.7514856386614035,
2.0490261439031245,
1.8268108116258848,
-0.01450435707335851
],
"class_other": "Car"
}
],
"pose": [
[
-0.9998274972638947,
-0.017741157380760424,
0.005497913223036402,
-32.720656307625944
],
[
0.01730205299581674,
-0.9972807839146012,
-0.07163572430574505,
179.70910010533095
],
[
0.006753863867957181,
-0.07152824176134803,
0.9974157086959197,
12.169449198942498
],
[
0,
0,
0,
1
]
],
"timestamp": 639
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000391/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": [
1050,
407,
1169,
638
],
"bbox_3d": [
9.773807541297288,
-3.67790022960745,
-1.3487984655443324,
0.8607789946075562,
0.8170245925142735,
1.7963739577672537,
-4.94781432314263,
0.9276033639907837,
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: bottom-right, slightly right, near the right edge of the view; side profile facing observer \n4. Relationship with surrounding objects: a silver car to the left of the target, a pedestrian to the left front of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at the bottom-right of the view, side profile facing observer, near a silver car and another 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/003124/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003124/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.19449234008789,
-3.726252317428589,
-0.0831151232123375,
10.122275352478027,
2.9768190383911133,
3.592132329940796,
-0.01617288589477539
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.01926403838668,
-7.11082849782548,
-1.4543254356484487,
4.72661161381146,
1.9915027537632397,
1.6387742994822776,
-4.9806668164510715
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.331975936889648,
1.1525295972824097,
-1.3346469402313232,
0.8577829599380493,
0.7955567240715027,
1.7098369598388672,
-7.6563801765441895
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.010256008888163,
-1.5072933516402998,
-1.2612297099281973,
0.8730361136841311,
0.8184131858429758,
1.800490013201122,
-4.699939662770693
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.50332098139846,
-3.879200962808113,
-1.3330696234872406,
0.8352239536090125,
0.8002683385513631,
1.8142813205098594,
-4.901736348904061
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993015665538164,
-0.0360236906632244,
-0.009933418046617789,
-94.51263655931025
],
[
0.036706518581316086,
-0.9960920902065079,
-0.08033168317463293,
181.88458724507842
],
[
-0.007000755439811435,
-0.08064019803441969,
0.9967186904459261,
11.72998914169204
],
[
0,
0,
0,
1
]
],
"timestamp": 2592
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003124/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": [
439,
391,
563,
490
],
"bbox_3d": [
25.317027635162127,
2.9531584950557055,
-1.4189120375810589,
4.520930503562714,
1.9751457708792477,
1.73368850934022,
0.0029332873032443807,
0.9711191654205322,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark color, rear facing observer \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 black SUV to the left front of the target, a white car to the left of the target, a pedestrian to the right front of the target \n5. Summary: dark SUV, rear facing observer, stationary, located in the center of the view, with a black SUV to its left front and a white car to its left, 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/000417/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000417/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.450893313917774,
2.746011307786034,
-1.382073826971217,
4.5109993295833934,
1.9696685474835212,
1.7469183351244417,
-0.016090851448050003
],
"class_other": "Car"
},
{
"bbox_3d_other": [
-0.9734085267732482,
3.2390997282824117,
-1.407154040001172,
4.3844852692642675,
1.9195513208669794,
1.6539679632367634,
0.001128363824085099
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.360152249956016,
2.8888403340971536,
-1.3607139501058985,
4.393629186338983,
1.9272061536797158,
1.6994246121787828,
-0.050142170784281515
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.390734365544773,
6.518199727837214,
-1.108362614347635,
0.755208420753479,
0.7451049157551357,
1.804416159221104,
-1.6845353583510567
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.999734681249155,
-0.02030519413209137,
-0.01087502638656254,
-61.268507747070345
],
[
0.021055555934047725,
-0.9970342808244661,
-0.07402233733912957,
180.70829777717373
],
[
-0.009339736182491292,
-0.07423167755141864,
0.9971972860853281,
12.127337580920978
],
[
0,
0,
0,
1
]
],
"timestamp": 673
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000417/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": [
546,
380,
607,
486
],
"bbox_3d": [
22.54729265421036,
1.380155458248968,
-1.2027710719697557,
0.8736258937714586,
0.8186217188545256,
1.815694720334751,
0.41868576504648813,
0.9877572059631348,
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, slightly right; side profile facing observer \n4. Relationship with surrounding objects: a black car to the left front of the target, a silver car to the right front of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located in the center-right of the view, with a black car to the left front and a silver car 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/002792/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002792/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.462458610534668,
-1.066031575202942,
-1.5514147281646729,
4.714077949523926,
1.9856059551239014,
1.610876202583313,
0.5028942227363586
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.871899527708004,
1.9158262373275692,
-1.5410341701399375,
4.526297844480485,
1.9461194034117892,
1.6301168281935714,
0.5552138727275011
],
"class_other": "Car"
}
],
"pose": [
[
0.41508610441830496,
-0.9097819807305032,
0.0005229310838435718,
12.783687713353192
],
[
0.9078198807612992,
0.41415303279662374,
-0.06588117728076488,
5.463638878130569
],
[
0.05972093446503425,
0.027821088466145675,
0.9978273382821208,
0.28552567165344644
],
[
0,
0,
0,
1
]
],
"timestamp": 1929
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002792/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,
404,
52,
618
],
"bbox_3d": [
9.373955535712176,
5.499933265700932,
-1.2417753762769168,
0.7775695395040686,
0.7448229524882607,
1.7232478152917419,
-2.8363123542294644,
0.5,
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/002879/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002879/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.577677916131066,
-1.1247665512388956,
-0.8305646616252886,
5.118919100080218,
2.170159523827689,
2.0834262916019983,
1.5286880717468954
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.74091419820543,
4.038325782843128,
-1.238654544828675,
0.8132341868488167,
0.7709364141095367,
1.692290427843464,
0.45886382519303703
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.592404311433697,
3.561462293436282,
-1.261022422366402,
0.8130773939738015,
0.7749512514788046,
1.7124945770033155,
0.4891521506821821
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.03565196060640674,
-0.9986998583688235,
-0.036435293315835546,
18.165366689578345
],
[
0.9958987958377999,
0.03853829360544325,
-0.08185590006102615,
108.65956340396119
],
[
0.08315362982900551,
-0.033367541414859994,
0.995977952078352,
6.997453122979257
],
[
0,
0,
0,
1
]
],
"timestamp": 2140
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002879/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": [
997,
436,
1279,
673
],
"bbox_3d": [
10.980245923369965,
-4.702656746633881,
-1.6492989039826398,
4.473740208793401,
1.917464013375344,
1.5397154389909258,
0.027407728503009876,
0.9970007538795471,
1
],
"class": "car",
"description": "1. Appearance: car, blue, with visible rear lights and rear window\n2. Motion state: moving right in frame\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 boundary on the right side\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: blue car, rear facing observer, moving right in frame, located at the bottom-right of the view, partially occluded on the right, with a pedestrian and a white car nearby to the 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/001164/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001164/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.78063201904297,
-1.647714614868164,
-1.5004818439483643,
4.417409420013428,
1.9134390354156494,
1.574591040611267,
0.07000613212585449
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.07371266061844,
2.9966702067174227,
-1.059710207051546,
4.72127556528712,
2.0109133216867447,
1.760362299125561,
0.5573061819421108
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.286040742657832,
-4.878048299594338,
-1.5150933113035523,
4.617364614576472,
2.003579154363726,
1.721558530959487,
0.04044139088454313
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.583600044250488,
6.498661994934082,
-0.9448734521865845,
0.7550696730613708,
0.7309118509292603,
1.7070159912109375,
-9.666523933410645
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.709299087524414,
7.066032886505127,
-0.9130093455314636,
0.8344817757606506,
0.7715749740600586,
1.717737078666687,
-3.107178211212158
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.099290623274015,
-6.406907196171019,
-1.5197612888798273,
0.823393096718038,
0.7982098995624073,
1.7548588189173284,
-3.8976775126365215
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.995028281536833,
-7.577941897768783,
-1.5443152162621077,
0.840567018950581,
0.8059012881886307,
1.757768056287974,
-0.1545374397483441
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0721194573438696,
-0.9962190439323946,
-0.04843965708849979,
20.65324475077751
],
[
0.9952461422680594,
0.07506611126159679,
-0.06204994150365796,
154.84416926782143
],
[
0.06545151008931406,
-0.043734373740654406,
0.996896887536791,
10.26302475350006
],
[
0,
0,
0,
1
]
],
"timestamp": 2291
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001164/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": [
669,
410,
790,
678
],
"bbox_3d": [
9.11766422138382,
-0.5138477560739148,
-1.3340036929179266,
0.8630475907870835,
0.8199644066729759,
1.8362383548799568,
-0.04097564145276644,
0.9926118850708008,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a light-colored hat \n2. Motion state: moving away from camera \n3. Position to viewer: center, slightly right, on the crosswalk; back to observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the right \n5. Summary: person wearing dark clothes and a light-colored hat, walking on the crosswalk with their back to the observer, moving away from the camera, 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/002711/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002711/lidar.bin",
"others": [
{
"bbox_3d_other": [
17.575931549072266,
-9.466541290283203,
-1.0364885330200195,
0.8127192258834839,
0.786150336265564,
1.8990213871002197,
1.4319190979003906
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.365437891093862,
-3.030302884588025,
-1.3791900157043373,
0.863253957117926,
0.8209910001534475,
1.7788218532964646,
2.0855542913476466
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9139632741091192,
0.405659866640065,
0.010545433955237684,
-150.54048136099357
],
[
-0.4053512905270589,
-0.9114337615744575,
-0.07056082149665624,
180.17516893353655
],
[
-0.01901222890108971,
-0.06876460470183651,
0.9974517353197662,
11.572304166197794
],
[
0,
0,
0,
1
]
],
"timestamp": 1190
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002711/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": [
496,
412,
554,
534
],
"bbox_3d": [
18.87235338016943,
1.9392638094086685,
-1.6262225198507014,
0.7925555737866496,
0.7766035163468169,
1.7536139747125696,
0.18453529107081912,
0.8698003888130188,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing blue top and dark pants, with a backpack \n2. Motion state: moving toward camera \n3. Position to viewer: center, slightly right, near the right edge of the view; back to observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white truck to the right rear of the target \n5. Summary: person wearing blue top and dark pants with a backpack, moving toward camera, located in the center-right of the view, with a pedestrian to the left front and a white truck 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/002961/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002961/lidar.bin",
"others": [
{
"bbox_3d_other": [
10.209555625915527,
5.119848251342773,
-1.3175967931747437,
4.714024543762207,
2.0448083877563477,
1.838571310043335,
-11.69274616241455
],
"class_other": "Car"
},
{
"bbox_3d_other": [
29.0951267377348,
-8.097315647043473,
-2.0321538426537504,
4.564203063717461,
1.9849817676634314,
1.6658443891359518,
-0.1435826170300729
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.747209548950195,
2.842545509338379,
-1.5224156379699707,
0.8255019187927246,
0.8026956915855408,
1.8064180612564087,
-12.157992362976074
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.575353622436523,
2.673785924911499,
-1.5747718811035156,
0.8533948659896851,
0.8123708963394165,
1.7496488094329834,
-9.941041946411133
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.430850982666016,
2.4214184284210205,
-1.5678761005401611,
0.81998610496521,
0.7986999154090881,
1.778123378753662,
-12.086152076721191
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.637272333846937,
-9.439218174936109,
-1.875283318747182,
0.8332868076908672,
0.8059955157483248,
1.7630384709667999,
-4.678544049607788
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.55382725611753,
0.9501040926209114,
-1.6458213206632157,
0.784861789574755,
0.7776742819515627,
1.7664706334451439,
0.6148696148675714
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.869624788327684,
4.173661250922052,
-1.4383819333670198,
0.8330258343862071,
0.8019931305352955,
1.790238096262222,
0.30080234400299033
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.04697710962851609,
-0.9982447250405782,
-0.03606411096381959,
21.080468750082538
],
[
0.9951433071983429,
-0.04364352224691648,
-0.08823287994975201,
165.4842453533916
],
[
0.08650404215581382,
-0.04003388432994265,
0.9954468035993495,
11.097420091366892
],
[
0,
0,
0,
1
]
],
"timestamp": 2317
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002961/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": [
659,
372,
763,
465
],
"bbox_3d": [
27.85981463583729,
-1.1955794189153153,
-1.0888541212043625,
4.915839968536875,
2.084411164778013,
1.8572336412135233,
-0.014231252015183049,
0.9742870330810547,
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: center, slightly right, near the middle of the view; rear facing observer; the target is partially occluded by the car in front and appears slightly blurred\n4. Relationship with surrounding objects: a dark car in front of the target, a red car to the right rear of the target, a white car to the right front of the target\n5. Summary: dark-colored car with a roof rack, stationary in the center-right of the view, rear facing observer, partially occluded by the car in front, located between a dark car in front and a red 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/001783/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001783/lidar.bin",
"others": [
{
"bbox_3d_other": [
28.912675857543945,
-4.994307518005371,
-1.4723926782608032,
4.4054670333862305,
1.9177167415618896,
1.6121279001235962,
6.351040840148926
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.427249908447266,
-1.0260498523712158,
-1.4044822454452515,
4.4866228103637695,
1.915313959121704,
1.5692957639694214,
6.232019901275635
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.85484504699707,
-5.175978660583496,
-1.392594814300537,
4.392889499664307,
1.952919602394104,
1.809983491897583,
6.357698440551758
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.303875506559393,
-5.085110065134899,
-1.6186728942530628,
4.444628611473402,
1.9139171209811041,
1.5678981935134833,
-0.0025385383552900542
],
"class_other": "Car"
}
],
"pose": [
[
-0.06026558808310112,
0.9965873663449314,
0.056406383811335344,
-158.67797275985907
],
[
-0.996163538547832,
-0.056455403377081215,
-0.06686547612477903,
104.4375180003612
],
[
-0.06345284359948201,
-0.06021967013530333,
0.9961663154152197,
6.769769495110654
],
[
0,
0,
0,
1
]
],
"timestamp": 3208
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001783/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": [
748,
394,
815,
527
],
"bbox_3d": [
17.20345817347883,
-1.736763342265725,
-1.3313337325823653,
0.7939534464626509,
0.7749844505802417,
1.7452719129146181,
-0.2907338214284447,
0.5173327922821045,
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, near the right edge of the view; back to observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the right\n5. Summary: person wearing dark clothes and a backpack, seen from the back, moving left in frame, located at the center-right of the view, near a pedestrian and a white 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/003027/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003027/lidar.bin",
"others": [
{
"bbox_3d_other": [
42.907926732986425,
-16.314091971735756,
-0.7854024460107816,
5.018932902490561,
2.126497379923224,
1.9519726229952528,
1.2576227233869481
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.867030143737793,
-3.84543776512146,
-1.647976040840149,
0.8189077973365784,
0.7815969586372375,
1.7113386392593384,
4.197894096374512
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.054397583007812,
-0.40126848220825195,
-1.1808222532272339,
0.8214762806892395,
0.7820109724998474,
1.7843526601791382,
5.826740741729736
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
7.34798526763916,
1.941009283065796,
-1.3735445737838745,
0.8433588743209839,
0.8058773279190063,
1.7664262056350708,
2.562309980392456
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.303324338966434,
-2.1757504838199964,
-1.3261249090858982,
0.806869340617941,
0.7800408958811169,
1.7507532625677775,
-0.17641014605586824
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.25080982533123,
-2.524754646961945,
-1.365732001472919,
0.7957967600060631,
0.7747626414761554,
1.7662662184048175,
-0.12899953255575847
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.878449422517832,
-4.009939552525992,
-1.6608273165617828,
0.7913331355227798,
0.7699990414205145,
1.7033765716630904,
-1.9318886507995052
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.23429950768040386,
-0.9712957126067584,
-0.04108989379944627,
20.43848249181283
],
[
0.9700015484169401,
-0.23075146570477034,
-0.0764902421478639,
169.09740824040625
],
[
0.0648130910345974,
-0.0577788866873499,
0.9962233000104501,
11.377081439835981
],
[
0,
0,
0,
1
]
],
"timestamp": 2346
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003027/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": [
459,
377,
545,
511
],
"bbox_3d": [
17.178345289349735,
2.0738923648811713,
-1.0754364145423736,
0.863094300101834,
0.8019977781229326,
1.7551357838023642,
-4.012292849850596,
0.9871955513954163,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing black top and black pants, carrying a backpack\n2. Motion state: moving left in frame\n3. Position to viewer: center-left, slightly right of the tree trunk; 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 wearing black clothes and carrying a backpack, moving left in frame, located at center-left of the view, near a tree trunk, 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/002046/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002046/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.945494651794434,
-2.49066424369812,
-1.4608817100524902,
4.94824743270874,
2.0506350994110107,
1.670170783996582,
6.270606517791748
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.899330139160156,
-6.021827220916748,
-1.7466094493865967,
4.412780284881592,
1.928328275680542,
1.590634822845459,
6.242611408233643
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.9801249504089355,
-1.998603105545044,
-1.5026679039001465,
4.5665507316589355,
1.9513872861862183,
1.6002371311187744,
6.1263933181762695
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.095985412597656,
-5.908422470092773,
-1.5680948495864868,
4.679497241973877,
2.0033135414123535,
1.7046575546264648,
6.223738670349121
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.545692312526228,
11.65568106546539,
-0.6649658663902944,
4.519220235361465,
1.9543096168516247,
1.6198480248668656,
1.5290728455507923
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.443931579589844,
7.829739570617676,
-0.48185184597969055,
0.797849178314209,
0.7618566155433655,
1.8008922338485718,
4.412911415100098
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.144079208374023,
5.418697834014893,
-0.7074822187423706,
0.8923979997634888,
0.8099387884140015,
1.7720444202423096,
2.9518864154815674
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
22.122475724476715,
-3.107232938867707,
-1.2948567057680684,
0.8783863407563945,
0.822898788947493,
1.7608470660366424,
-4.483370287847109
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.551536648275288,
6.851258195426871,
-0.5233819692332993,
0.8063796809487473,
0.7734206602090403,
1.8435152697045458,
-2.465831695366893
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0010787368065494074,
-0.9977610736488367,
-0.0668705932232045,
18.719750811651263
],
[
0.9977265150753496,
0.005579906004052726,
-0.06716149019032015,
147.6810231525629
],
[
0.06738425218477036,
-0.0666461143661581,
0.9954986981394764,
9.918747513633754
],
[
0,
0,
0,
1
]
],
"timestamp": 308
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002046/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": [
1214,
410,
1273,
514
],
"bbox_3d": [
19.753122214819093,
-10.1769636444353,
-1.7401064635219008,
0.8729149708841601,
0.8244007201432472,
1.7356827868227052,
-0.132838949233812,
0.9390514492988586,
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/002146/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002146/lidar.bin",
"others": [
{
"bbox_3d_other": [
17.857295989990234,
-6.1076154708862305,
-1.733942985534668,
4.457124710083008,
1.931217908859253,
1.5751174688339233,
-6.349834442138672
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.84374713897705,
-2.456237554550171,
-1.4861252307891846,
4.882084369659424,
2.0311169624328613,
1.6535892486572266,
6.246325492858887
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.591687202453613,
-2.1395647525787354,
-1.495320439338684,
4.49963903427124,
1.936539649963379,
1.6187113523483276,
6.129419326782227
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.977595669754862,
-5.983925309996401,
-1.4941475147210967,
4.611394254744343,
1.9962477756198314,
1.7305685392356451,
-0.008767030685538968
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.442002534968736,
11.733291306401654,
-0.7616604282838848,
4.515930770633928,
1.9470962957777644,
1.608602473715568,
1.5282049912689448
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.43469718792525,
-9.244510242543779,
-1.5425065667955238,
4.4974504861560165,
1.9507440706854462,
1.6015212413188742,
-1.8187246254045624
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.719829559326172,
3.2846641540527344,
-0.7762086391448975,
1.0362499952316284,
0.8538216352462769,
1.8397852182388306,
6.3120317459106445
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.462275505065918,
6.78481912612915,
-0.5707817673683167,
0.7949183583259583,
0.7655405402183533,
1.8158841133117676,
-5.35066032409668
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.55737963938438,
3.853522245683358,
-0.9338401748868215,
0.7992354507282237,
0.7648631003260565,
1.778439731528227,
-3.814087887502426
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.98030943575634,
5.252068565712072,
-0.7788808581616196,
0.7918502759777964,
0.7494277106972822,
1.7196302623464073,
-3.09087301016949
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.832104572370184,
-0.8604373997824517,
-1.2443467114242757,
0.8310903615410059,
0.7873433886105438,
1.7417613274113224,
-4.492182310406949
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.319854383620282,
7.8629115582039795,
-0.5053575588161316,
0.7835464486832145,
0.7529903073257709,
1.7803734828121203,
1.0459679866105076
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0012378156269547413,
-0.997777160761815,
-0.06662736130573278,
18.725299659606517
],
[
0.9975908561643151,
0.005853439622263867,
-0.06912467679444997,
147.79471070545634
],
[
0.0693610229871383,
-0.06638128280381075,
0.9953806175446145,
9.925992688571657
],
[
0,
0,
0,
1
]
],
"timestamp": 324
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002146/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": [
1046,
426,
1187,
690
],
"bbox_3d": [
8.79408284751981,
-3.3754563480900526,
-1.4780941720022915,
0.7914535221010258,
0.7734354631550584,
1.8309778504211969,
0.03809420591351076,
0.600517213344574,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a hat \n2. Motion state: stationary \n3. Position to viewer: bottom-right, 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 red hand truck to the right of the target \n5. Summary: person wearing dark clothes and a hat, standing stationary at the bottom-right of the view, side profile facing observer, next to a black car and a red hand truck"
}
],
"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/001980/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001980/lidar.bin",
"others": [
{
"bbox_3d_other": [
17.344603423883427,
-4.0665191936896985,
-1.6392059819394131,
4.655318028252914,
1.9963842554244016,
1.6560389281328927,
0.08312839717795883
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.63512169146109,
-4.599146345969009,
-1.6983262650165105,
4.491636830725344,
1.9533134761741242,
1.617419758940713,
0.011605323412711144
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.323494826543136,
-3.9675356916373143,
-1.5632449836055835,
4.49408237424073,
1.9339533976710963,
1.6031941075781997,
0.1417767463229418
],
"class_other": "Car"
}
],
"pose": [
[
0.04543667190155737,
-0.9987269421881544,
-0.02190898888604509,
14.72965927608387
],
[
0.9964814575919985,
0.04685892432537103,
-0.06949061725438173,
16.292255047968617
],
[
0.07042878333349266,
-0.018674478803109063,
0.9973419926582836,
0.9762661886498862
],
[
0,
0,
0,
1
]
],
"timestamp": 87
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001980/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": [
1128,
410,
1191,
517
],
"bbox_3d": [
20.340921968499575,
-8.718375892446723,
-1.7580174812054832,
0.852884343217076,
0.8173957854628453,
1.7687243681825837,
-3.0520320234426643,
0.9663578271865845,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, carrying a backpack \n2. Motion state: moving right in frame \n3. Position to viewer: right-center, slightly right, 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 in the background behind the target \n5. Summary: person wearing dark clothes and carrying a backpack, moving right in frame, located at the right-center of the view, side profile facing observer, with a black car to the left and a white van in the background."
}
],
"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/002246/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002246/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": [
16.977276309282274,
-7.9682087894246365,
-1.643236093335005,
0.8067523223554504,
0.796986758988669,
1.7951480766748007,
-3.384155058872963
],
"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/002246/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": [
61,
438,
221,
697
],
"bbox_3d": [
8.544084024123272,
3.7282419907462696,
-1.4841432621229949,
0.937436284386437,
0.8504824778138993,
1.7445546139333454,
0.02134958787732555,
0.5050340294837952,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, pushing a cart with white bags\n2. Motion state: moving left in frame\n3. Position to viewer: bottom-left, near the left edge of the view; side profile facing observer; partially occluded by the cart in front\n4. Relationship with surrounding objects: a pedestrian in a dark top standing on the sidewalk to the right of the target, a white postal truck further down the street to the right\n5. Summary: person pushing a cart with white bags, located in the bottom-left of the view, moving left, side profile facing observer, partially occluded by the cart, with a pedestrian and a white postal truck 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/002346/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002346/lidar.bin",
"others": [
{
"bbox_3d_other": [
19.82817246885429,
5.2041120536783225,
-1.4576658723075475,
0.8079824492924048,
0.7906255619107296,
1.7680391639980715,
0.5963316364555209
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.041984444385292,
-9.645377969089562,
-1.7406873262920826,
0.8105872262369329,
0.8006571556349104,
1.7826555222873306,
0.012105356684423585
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.354451235225014,
4.093830172906621,
-1.4027820898871095,
0.9402833282245733,
0.8803824161948334,
1.8477845321150494,
-0.009538256396035116
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.002894723422041723,
-0.9991879462664526,
-0.04018791624529261,
19.81869576616616
],
[
0.9957590405997905,
0.0008153435592094249,
-0.09199602316766438,
167.5374209840173
],
[
0.0919540844122482,
-0.04028378396711545,
0.9949480705590599,
11.467387588537283
],
[
0,
0,
0,
1
]
],
"timestamp": 531
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002346/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": [
549,
389,
680,
586
],
"bbox_3d": [
12.199414835396695,
0.37922582492913537,
-1.1995836483885185,
0.9843909853758228,
0.8397973181621419,
1.7918713913385853,
-1.9591683087114686,
0.9408372044563293,
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, back to observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the right rear of the target\n5. Summary: person riding a bicycle, wearing dark clothes, in the center-right of the view, moving left, with a pedestrian to the left front and 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/002446/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002446/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": [
9.24656867980957,
-4.38485860824585,
-1.3296422958374023,
0.8816894888877869,
0.8309707641601562,
1.8088284730911255,
7.078129291534424
],
"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/002446/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": [
648,
402,
758,
499
],
"bbox_3d": [
24.34400762128794,
-0.8721735362250342,
-1.5762026078464615,
4.464855237860584,
1.9305228788192375,
1.5857448727531709,
-0.00491856492809406,
0.9721492528915405,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, rear view visible\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 right of the target, a white car to the left of the target\n5. Summary: dark-colored car, rear facing observer, stationary, located in the center-right of the view, with a red car to its right 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/001777/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001777/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.594339370727539,
-5.07879638671875,
-1.7295550107955933,
4.465620517730713,
1.9305338859558105,
1.5786583423614502,
-6.260485649108887
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.271289859272173,
-5.139910670411382,
-1.6146831808443167,
4.458543905520253,
1.9603210005120544,
1.7545397795342437,
0.08034422055715185
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.19375678025105,
-5.084038967321277,
-1.6203208485893015,
4.596938062841057,
1.9807426463778512,
1.677825916057012,
0.08055685892827014
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.34113562901264,
-7.238438611634848,
-1.5083530467026716,
0.8301819753239456,
0.8167577532017053,
1.8019774450109876,
-0.07819888711991774
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.0595744256006383,
0.9959509287234884,
0.06732484971520564,
-158.81524023340606
],
[
-0.9966905554410892,
-0.055610701898642034,
-0.05929069512894679,
102.17734857367118
],
[
-0.05530664073045259,
-0.07063425096340571,
0.9959678599643421,
6.6172072535419675
],
[
0,
0,
0,
1
]
],
"timestamp": 3236
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001777/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": [
1046,
413,
1147,
615
],
"bbox_3d": [
10.933215494116567,
-3.991378860191907,
-1.4212380901946364,
0.827138338308242,
0.794393989386249,
1.7584091985908124,
-4.950524025482714,
0.9505283832550049,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing light-colored top and dark pants, carrying a backpack\n2. Motion state: moving right 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 pedestrian to the left of the target, a white bus to the left front of the target\n5. Summary: person wearing light top and dark pants, carrying a backpack, moving right in frame, located at the bottom-right of the view, with a pedestrian and a white bus 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/002546/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002546/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.480833927836102,
-2.4747639587084223,
-0.5647536299419658,
14.27760456041505,
3.083067064622114,
3.4336977129049577,
-5.606922481206875
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.98978328704834,
4.061352252960205,
-1.1425448656082153,
0.811596691608429,
0.7710252404212952,
1.7941579818725586,
-1.8907073736190796
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.43259635817941,
7.302686607241782,
-0.9206225700206749,
0.8398546264211002,
0.7830975862007444,
1.7562443975811988,
-2.9697744615590542
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.620890618751105,
-4.581379597503087,
-1.4439331583667676,
0.8150174169099494,
0.7860599196936986,
1.7461681383929841,
-4.577665756329021
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999177311431559,
-0.008355529308031589,
-0.00973221842677063,
-96.36573560257649
],
[
0.00913149322317182,
-0.9965388024686653,
-0.08262584950143426,
181.41213261405562
],
[
-0.009008150589267239,
-0.08270792165386048,
0.9965331168198376,
11.86497426216617
],
[
0,
0,
0,
1
]
],
"timestamp": 985
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002546/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": [
145,
399,
259,
614
],
"bbox_3d": [
10.085872069621175,
3.7917883048642955,
-1.210984269163248,
0.7971601221105319,
0.7676813622866014,
1.731036571340447,
-4.57070297297121,
0.982282817363739,
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, truncation at the top and bottom; 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 at the left-center of the view, side profile facing observer, partially occluded by a pole on the left, with a pedestrian and a white car nearby 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/002646/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002646/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.73073959350586,
-4.196942329406738,
-0.08092130720615387,
10.047184944152832,
2.9721882343292236,
3.6282765865325928,
-6.30238676071167
],
"class_other": "Car"
},
{
"bbox_3d_other": [
36.914432525634766,
-0.14604949951171875,
-0.4625000059604645,
9.068802833557129,
2.8568005561828613,
3.222104549407959,
6.314187049865723
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.496349699072894,
-3.930793521381588,
-1.431917463046589,
4.870812041810597,
2.0384293085123373,
1.672559232906903,
-5.428521377558502
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.934016227722168,
4.011216163635254,
-1.2157498598098755,
0.8192988634109497,
0.7795132398605347,
1.7332912683486938,
-4.5389909744262695
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.996172904968262,
5.745110511779785,
-1.0431866645812988,
0.8026553392410278,
0.7624052166938782,
1.759652018547058,
-8.76034164428711
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.51252555847168,
-0.24177312850952148,
-1.2426300048828125,
0.8499054908752441,
0.8092549443244934,
1.8298838138580322,
-7.575974941253662
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999163683377299,
-0.00844923346427284,
-0.009791158468331387,
-96.37430573855616
],
[
0.009229961537208543,
-0.9965360207259075,
-0.0826484555560234,
181.41508054048265
],
[
-0.00905892600187331,
-0.0827319155443686,
0.9965306648618759,
11.867180215835305
],
[
0,
0,
0,
1
]
],
"timestamp": 1044
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002646/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": [
1137,
405,
1224,
556
],
"bbox_3d": [
14.412466844903639,
-6.462116766534024,
-1.4793010574819494,
0.874823872469417,
0.8226371954226958,
1.7765243215091853,
3.1253302735031707,
0.9368835687637329,
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/002746/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002746/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.84909439086914,
1.1757549047470093,
-0.5097963213920593,
12.948699951171875,
3.0883638858795166,
3.493778944015503,
0.3324120044708252
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.3623706282035286,
-4.648535327188284,
-1.6647474399703865,
4.679450507051844,
1.9927205464548587,
1.6447103508304992,
-0.04613203056751347
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.27739397763007,
-4.759087467161834,
-1.5729136645956414,
4.621582676539931,
1.99737133919366,
1.7204635197686922,
-0.07832489384231667
],
"class_other": "Car"
},
{
"bbox_3d_other": [
38.245058396921976,
20.348301912583565,
-0.47053500866610865,
4.634307904488518,
1.9878498442669243,
1.6589446071334149,
4.725084776879852
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.817314381980218,
-4.598265363786396,
-1.606183287291791,
4.394095549174858,
1.9340093781402685,
1.651107422009354,
-0.008778445413950342
],
"class_other": "Car"
}
],
"pose": [
[
-0.053777330548112456,
0.9971081975560782,
0.05369582000107909,
-162.3093739263698
],
[
-0.997023401495026,
-0.05064207968110784,
-0.05813533036683295,
37.918054430875
],
[
-0.055247946481362865,
-0.05666235198120141,
0.9968636026445901,
3.127862625140827
],
[
0,
0,
0,
1
]
],
"timestamp": 1551
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002746/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": [
542,
404,
763,
548
],
"bbox_3d": [
17.83718618012509,
0.1840008476943389,
-1.4648159512746037,
4.416314712698294,
1.928789029629389,
1.628935231458645,
0.28559671646716933,
0.9829465746879578,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, with visible side profile and rear window\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 dark sedan to the left front of the target, a light-colored car to the right rear of the target\n5. Summary: dark-colored car parked on the right side of the street, side and rear facing observer, with a dark sedan to its left front and a light-colored car 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/000037/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000037/lidar.bin",
"others": [
{
"bbox_3d_other": [
7.005298614501953,
-3.630467653274536,
-1.5497905015945435,
4.599588871002197,
1.9838231801986694,
1.6563109159469604,
6.639480113983154
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.057382583618164,
2.694430351257324,
-1.4508353471755981,
4.524382591247559,
1.9525279998779297,
1.6178090572357178,
6.651058673858643
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.703058905094274,
-1.5909718391153884,
-1.5355900933266178,
4.484570120160702,
1.9280468579442083,
1.5963519674125015,
0.36888102916501264
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.678356170654297,
0.8895308375358582,
-1.2934426069259644,
0.7959305644035339,
0.7738754153251648,
1.8062982559204102,
6.430455684661865
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.347695634137853,
-5.647692063600058,
-1.5130440573646313,
0.8577073993056521,
0.8122336326532125,
1.77469481306382,
-2.9423517797935848
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.2687695134711366,
-0.9627085537236388,
-0.03090613556930877,
13.974978754820002
],
[
0.9611454381531324,
0.270153799276515,
-0.05671306246261178,
9.652967289080992
],
[
0.06294756028562316,
-0.014462549007849036,
0.997912039876403,
0.5759430145892666
],
[
0,
0,
0,
1
]
],
"timestamp": 76
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000037/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": [
665,
405,
749,
554
],
"bbox_3d": [
14.903946077582773,
-0.6239892158921023,
-1.379495761234418,
0.816523368149193,
0.7752803717135429,
1.6750789193088753,
1.2925484132779705,
0.935131311416626,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, carrying a bag\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 person pushing a cart to the left front of the target, a white tent to the right of the target\n5. Summary: person wearing dark clothes, carrying a bag, moving left in frame, located at center-right of the view, with a person pushing a cart to their left front and a white tent to their 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/002846/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002846/lidar.bin",
"others": [
{
"bbox_3d_other": [
15.610063552856445,
0.014642715454101562,
-1.3883463144302368,
0.8360324501991272,
0.778484582901001,
1.6486564874649048,
1.347973346710205
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.04559167891693727,
-0.9979226389593585,
-0.04551708982267004,
17.66168139754616
],
[
0.9965448113237372,
0.04860081596783794,
-0.06735280032038538,
99.80920651469869
],
[
0.06942505194288483,
-0.042289092442974706,
0.9966904207541465,
6.36220969533185
],
[
0,
0,
0,
1
]
],
"timestamp": 2091
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002846/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": [
890,
414,
985,
581
],
"bbox_3d": [
13.54827449531379,
-3.0839092056110466,
-1.4887459284176234,
0.8212911525728063,
0.7835289513359213,
1.7358046438830812,
-2.14057509780395,
0.9666574001312256,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and light-colored pants, with a backpack\n2. Motion state: moving right in frame\n3. Position to viewer: bottom-right, near the right edge of the view; side profile facing observer\n4. Relationship with surrounding objects: a white postal truck to the left of the target, a black car to the right of the target\n5. Summary: person wearing dark top and light-colored pants with a backpack, moving right in frame, located at bottom-right near the right edge of the view, side profile facing observer, with a white postal truck to the left and a black 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/002946/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002946/lidar.bin",
"others": [
{
"bbox_3d_other": [
42.928049067773486,
-16.283550520475984,
-0.6103477781798334,
5.018932902490561,
2.126497379923224,
1.9519726229952528,
1.2585876564452205
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.601899147033691,
1.1022441387176514,
-1.3372931480407715,
0.832907497882843,
0.7878716588020325,
1.7229554653167725,
-9.687152862548828
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.342971801757812,
-2.2929906845092773,
-1.3020901679992676,
0.7632650136947632,
0.750855565071106,
1.7450978755950928,
5.808636665344238
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.174460366644297,
-1.7496725568044695,
-1.2753118921461635,
0.7789184399475712,
0.758253510636256,
1.7292306460744062,
-0.7118137377910212
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.03476555702946,
-0.01225880286622072,
-1.1292658088716592,
0.7909741588343121,
0.7580946027012553,
1.7395573442695171,
-0.7180486633895624
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.441300863647484,
-3.263311453381938,
-1.4937785846799319,
0.7636414407858795,
0.7480669587191136,
1.723552302586626,
-2.0619147087667327
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.56641550026734,
-0.6166433141366596,
-1.1736394532674348,
0.7740893363952637,
0.7495216429233551,
1.7536541124184926,
-0.619439672208064
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.2334230578058315,
-0.9714619856510421,
-0.04213414908966284,
20.439085745688402
],
[
0.9704751616025117,
-0.23004056975303577,
-0.07252101061263244,
169.09199423480356
],
[
0.06075884130852281,
-0.057818221199144704,
0.9964765007265413,
11.37670342746085
],
[
0,
0,
0,
1
]
],
"timestamp": 2336
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002946/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": [
1018,
486,
1279,
799
],
"bbox_3d": [
2.903851324217217,
-2.625135633582989,
-1.5501915384972866,
4.567227803166448,
2.0037704397699057,
1.7157079876934427,
0.011596446159682028,
0.5248458385467529,
1
],
"class": "car",
"description": "1. Appearance: car, black, with visible side mirror and part of the rear window\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; side facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a blue car to the left of the target, a white car further left, a pedestrian to the left front of the target\n5. Summary: black car at the bottom-right of the view, side facing observer, stationary, with a blue car to its left and a 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/000190/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000190/lidar.bin",
"others": [
{
"bbox_3d_other": [
13.717464536583407,
-6.337737637691948,
-1.8330484231285165,
4.401915503710938,
1.9250730099244893,
1.5780581215950746,
-0.07281446298550498
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.074323046652239,
-2.6993186486862086,
-1.5500365418015094,
4.975505021713382,
2.0503472503604585,
1.6518496562979885,
-0.04951900700686074
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.262988124742776,
-6.091133078526202,
-1.7458387333688452,
4.503530095515551,
1.9634715082736807,
1.628789587150586,
-0.010657610391408001
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.54571210021831,
11.385203690175027,
-0.8215937905198913,
4.593052383825235,
1.9723419536099476,
1.6438325689047137,
-1.6052830519796546
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.785865783691406,
2.9038186073303223,
-1.0967042446136475,
0.8349299430847168,
0.7863690257072449,
1.7892770767211914,
1.7717835903167725
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.742573738098145,
0.656319797039032,
-1.230218768119812,
0.9695214629173279,
0.8262113928794861,
1.7751898765563965,
-0.5877695083618164
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.48529453726627,
-10.077307277882344,
-1.7214508224547833,
0.8631333874455471,
0.8265547217147978,
1.786952532701001,
-0.1448435939858972
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.393298184391483,
7.201311059874975,
-0.8181152909974658,
0.7995117387070348,
0.7523945249753713,
1.7223458272432546,
-4.325647590395357
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.082067376260511,
7.3793078707647215,
-0.8110466607086217,
0.779810294508934,
0.7345343778530756,
1.6989361345767975,
-4.463780556799524
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.01682734426552457,
-0.997444077792904,
-0.06944171772669,
18.6974086818427
],
[
0.997242060773056,
-0.011721773362843746,
-0.07328623509458788,
152.01681572829912
],
[
0.07228494110171632,
-0.07048341439724597,
0.9948904339598548,
10.217443994154111
],
[
0,
0,
0,
1
]
],
"timestamp": 392
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000190/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": [
953,
383,
1268,
508
],
"bbox_3d": [
18.683242733551964,
-7.154220077649455,
-1.3012758865573524,
4.921822033960026,
2.0748074340768974,
1.822870557922782,
-5.0743406811490654,
0.9982562065124512,
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/001375/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001375/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.962379455566406,
-1.2263346910476685,
-1.4215106964111328,
4.512980937957764,
1.9431766271591187,
1.6121529340744019,
0.3680431842803955
],
"class_other": "Car"
},
{
"bbox_3d_other": [
43.77331843984901,
-3.708312038281605,
-0.02705649259531029,
9.018545766048195,
2.8882711311293057,
3.490521496395578,
-0.02387080490588822
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.185447692871094,
-0.7060656547546387,
-1.2382986545562744,
0.8511849641799927,
0.8144416213035583,
1.8451001644134521,
1.4563957452774048
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.714577674865723,
0.025617802515625954,
-1.2382090091705322,
0.8760964870452881,
0.825754702091217,
1.8021116256713867,
1.2795233726501465
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.964909559175823,
-4.751789104363212,
-1.4189075349617375,
0.87241151657615,
0.8102043005685612,
1.720556353000752,
-1.9157261453391377
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.065702292549588,
4.228669624158471,
-1.166524157763857,
0.8535421289007716,
0.7955237224679977,
1.7647721993750343,
-4.697715944740227
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993044165023924,
-0.035915848292920736,
-0.010036682729513063,
-94.50773001172485
],
[
0.03660721454864899,
-0.9960972815325954,
-0.08031262395391296,
181.88352928161217
],
[
-0.00711301636453798,
-0.08062417481607707,
0.9967191918657052,
11.73017868849563
],
[
0,
0,
0,
1
]
],
"timestamp": 2631
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001375/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": [
1011,
379,
1071,
481
],
"bbox_3d": [
20.623646899433524,
-6.55269760976427,
-1.1450049615278761,
0.7642473646851837,
0.7301249733713807,
1.6788815948806826,
-2.7465481225515767,
0.8957700133323669,
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/002438/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002438/lidar.bin",
"others": [
{
"bbox_3d_other": [
7.495694941656055,
2.7099875212988707,
-1.3272777058476182,
4.423139110940402,
1.937416672706604,
1.710317034701832,
-0.03000786751639062
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.982749112138777,
2.5446835201236127,
-1.3501086447030017,
4.454391729636271,
1.9214086063572617,
1.6275272051819034,
-0.05457096507933645
],
"class_other": "Car"
},
{
"bbox_3d_other": [
44.555185311444205,
-1.7018239855939612,
-0.7085815025169366,
4.755608081817627,
2.047898769378662,
1.8141709566116333,
-5.8952370119645305
],
"class_other": "Car"
},
{
"bbox_3d_other": [
2.4128797875663253,
2.9843433989897505,
-1.4044940056045947,
4.4549124627382595,
1.9576478637514338,
1.6699112015935953,
-6.322029633577079
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.858806610107422,
-5.3992462158203125,
-1.292182445526123,
0.7619667053222656,
0.7531299591064453,
1.7430535554885864,
5.875802040100098
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.574310302734375,
-5.016071796417236,
-1.1563138961791992,
0.7546439170837402,
0.7401090860366821,
1.7561748027801514,
-9.777047157287598
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.092555970869185,
6.955563861458643,
-0.9001627757298731,
0.8143830673127878,
0.7735918410977379,
1.7910920601399218,
-6.154724635620804
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.098466714490527,
5.608691354836083,
-0.9777690032042812,
0.8355144684920546,
0.7867810423256921,
1.7668609848765076,
-3.3913942398107033
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.226273531827673,
4.908797744713354,
-0.9626220655005739,
0.8325846769282075,
0.787228205897769,
1.7872179331349545,
-3.59014027187698
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.94574937517234,
-4.52133209904801,
-1.3061795230073043,
0.7900991456919029,
0.7686051298848918,
1.7288619651169075,
-0.5478778520337224
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998447310442549,
-0.0005440638057026105,
-0.01761300081238803,
-84.10613008400333
],
[
0.0019462575234539376,
-0.996817599969035,
-0.07969243674041801,
181.18312778483855
],
[
-0.017513591427638593,
-0.07971434241432623,
0.9966638840294944,
11.936058452979251
],
[
0,
0,
0,
1
]
],
"timestamp": 704
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002438/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": [
970,
421,
1173,
557
],
"bbox_3d": [
17.89100861034524,
-6.032426791826406,
-1.7800054573181345,
4.367329339126985,
1.9140210626484344,
1.575324588310727,
-0.03930292930936519,
0.9806345701217651,
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/000147/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000147/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": [
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"
},
{
"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/000147/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": [
90,
373,
152,
483
],
"bbox_3d": [
18.420309429424407,
8.361886689267747,
-0.9635310917531665,
0.7994691984521779,
0.746679445179603,
1.679554341304721,
-3.1445109465978685,
0.9326778054237366,
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 view, partially occluded by a pole; side profile facing 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: A person wearing dark clothes and a backpack, seen in side profile, is moving left in the frame at the left-center of the view, partially blocked by a pole, with a traffic light to their left and 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/003319/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003319/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.35889692773553,
-3.747456978359054,
-0.09185526331839244,
10.357673336106568,
2.9842540170020717,
3.6231564450426443,
-0.02841918246344477
],
"class_other": "Car"
},
{
"bbox_3d_other": [
2.581529385871292,
-2.6219290265302675,
-1.4644555576136302,
4.6540240583779555,
2.0120807766251847,
1.712546059271989,
0.017829723001574926
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.209989547729492,
8.622979164123535,
-1.010737657546997,
0.7647144198417664,
0.7202251553535461,
1.6052929162979126,
3.1303868293762207
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.139150619506836,
-1.4385075569152832,
-1.2918709516525269,
0.8565322756767273,
0.8145805597305298,
1.8124206066131592,
-7.824282646179199
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
6.553387377967013,
1.5667152113096847,
-1.3328887972777086,
0.8583438537806394,
0.8122475761488113,
1.761326954061412,
-1.0172925038816274
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993037785849715,
-0.03590479369722159,
-0.010139225579804595,
-94.50725302237913
],
[
0.036603548227888,
-0.9961075996920016,
-0.08018622134112595,
181.88097463928378
],
[
-0.007220689920422022,
-0.08050152560914185,
0.996728331097132,
11.729318343301413
],
[
0,
0,
0,
1
]
],
"timestamp": 2836
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003319/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": [
652,
397,
908,
504
],
"bbox_3d": [
22.39343471945095,
-2.1307693690957348,
-1.4433874488046428,
4.642717945896374,
1.9672405708802903,
1.6068829767639006,
-5.659320349322444,
0.9934866428375244,
1
],
"class": "car",
"description": "1. Appearance: sedan, silver, with visible side profile and rear window\n2. Motion state: moving left in frame\n3. Position to viewer: center-right, slightly right, near the right edge of the view; side facing observer, rear facing observer; partially occluded by the green bounding box and the person with a stroller in the foreground\n4. Relationship with surrounding objects: a person with a stroller to the left front of the target, a white car to the right of the target\n5. Summary: silver sedan, moving left in frame, located at center-right near the right edge of the view, side and rear facing observer, partially occluded by a person with a stroller to its left front 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/001365/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001365/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.248565673828125,
-3.765662908554077,
-0.06744947284460068,
10.236997604370117,
2.970906972885132,
3.6205625534057617,
6.254664421081543
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.38826511112552,
-10.327522876804835,
-1.3542551339841031,
4.69126574198405,
2.0262139042218528,
1.7436886330445607,
-4.988578464009314
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.619036674499512,
-3.0144357681274414,
-1.3953315019607544,
0.8534888029098511,
0.7995288968086243,
1.7209272384643555,
-8.162185668945312
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.472915649414062,
-0.9950114488601685,
-1.301016092300415,
0.8629699349403381,
0.8126402497291565,
1.7710275650024414,
1.326561689376831
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.11694407341183,
2.591277052523054,
-1.2482786425268575,
0.867875419637453,
0.8102304571478787,
1.787415298313003,
-4.644847275418722
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.052474502128476,
-1.5488299787983806,
-1.294832949794761,
0.8277266166734243,
0.7990155483083623,
1.7970852232265555,
-4.9575974326518
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993048363293441,
-0.0358947973279215,
-0.010070134734456507,
-94.50888924378236
],
[
0.03658925245457585,
-0.9960942967450311,
-0.08035781602829369,
181.88364305199917
],
[
-0.0071463762563961615,
-0.08067041289598818,
0.9967152119786238,
11.729655028119675
],
[
0,
0,
0,
1
]
],
"timestamp": 2620
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001365/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": [
118,
337,
272,
602
],
"bbox_3d": [
8.86463026986792,
3.3778401390229433,
-0.7881336907570553,
0.9939759885297438,
0.8375871758220413,
1.8389407059528515,
-0.007413935430483187,
0.9378947019577026,
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, partially occluded by a tree trunk; back to 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: A person wearing dark clothes, riding a bicycle and moving left in the frame, is located at the left-center of the view, partially blocked by a tree, with their back to the observer. A pedestrian and a white car are to the right front and right of the target, 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/002139/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002139/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.533365249633789,
-2.1235544681549072,
-1.5008907318115234,
4.496466159820557,
1.9311401844024658,
1.6046924591064453,
6.128691673278809
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.920357704162598,
-2.469235420227051,
-1.4713134765625,
4.949136734008789,
2.0475053787231445,
1.6580175161361694,
6.2602763175964355
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.90583932279074,
-6.082917771766521,
-1.7682577494331986,
4.385792257507029,
1.9167770823942019,
1.5720292763014216,
-0.04466186158229046
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.067402007596087,
-5.8930452219088565,
-1.591701893335751,
4.659850508547145,
1.9957576555787384,
1.6925539731924286,
-0.062091910805532
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.492627316641716,
11.712636707307993,
-0.7291102236472631,
4.517251280000864,
1.9486486255644193,
1.6130432661886023,
1.528557094393346
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.48397801760001,
-9.252765384360032,
-1.5264793822137592,
4.4974504861560165,
1.9507440706854462,
1.6015212413188742,
-1.8188463682135296
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.696147918701172,
3.7864532470703125,
-0.8776710629463196,
0.8626497387886047,
0.8021918535232544,
1.803895115852356,
2.2811384201049805
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.524822235107422,
6.795440673828125,
-0.5535857677459717,
0.7959945797920227,
0.7675361037254333,
1.8314765691757202,
3.9314351081848145
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.04480953515889,
5.213382148016914,
-0.7894274054212131,
0.7969026444314807,
0.7479532120173907,
1.6950013871846674,
-0.034589348664160635
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.369360964404876,
7.886479566103036,
-0.5246104347070106,
0.782255439841685,
0.7522402354024318,
1.7864023827407283,
1.042507587458785
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.449278751275955,
-10.147096430977275,
-1.7339881512560769,
0.8656229282266504,
0.820844660259247,
1.7484357908816321,
-0.24936235199844892
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.388586761507582,
-1.5195450845789686,
-1.2781791267360163,
0.8416511663621953,
0.7944355289887561,
1.7387363584202034,
-4.3971982389176665
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0011164073931916874,
-0.9977721861449748,
-0.06670395932784051,
18.72194264213792
],
[
0.9976278947789344,
0.005702406260998438,
-0.06860077347804305,
147.74490388512766
],
[
0.0688283167997277,
-0.06646914410696364,
0.995411731741295,
9.922612335258748
],
[
0,
0,
0,
1
]
],
"timestamp": 321
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002139/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": [
335,
396,
438,
587
],
"bbox_3d": [
12.11694407341183,
2.5912770525230737,
-1.248278642526854,
0.867875419637453,
0.8102304571478787,
1.787415298313003,
-4.644847275418722,
0.9921162724494934,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with light-colored hair\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 green bounding box; 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 with light-colored hair, wearing dark clothes, moving left in frame, located at center-left of the view, side profile facing observer, with a pedestrian and a white car 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/003215/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003215/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.248565673828125,
-3.765662908554077,
-0.06744947284460068,
10.236997604370117,
2.970906972885132,
3.6205625534057617,
6.254664421081543
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.39343471945095,
-2.130769369095731,
-1.443387448804645,
4.642717945896374,
1.9672405708802903,
1.6068829767639006,
-5.659320349322444
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.38826511112552,
-10.327522876804835,
-1.3542551339841031,
4.69126574198405,
2.0262139042218528,
1.7436886330445607,
-4.988578464009314
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.619036674499512,
-3.0144357681274414,
-1.3953315019607544,
0.8534888029098511,
0.7995288968086243,
1.7209272384643555,
-8.162185668945312
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.472915649414062,
-0.9950114488601685,
-1.301016092300415,
0.8629699349403381,
0.8126402497291565,
1.7710275650024414,
1.326561689376831
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.052474502128476,
-1.5488299787983806,
-1.294832949794761,
0.8277266166734243,
0.7990155483083623,
1.7970852232265555,
-4.9575974326518
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993048363293441,
-0.0358947973279215,
-0.010070134734456507,
-94.50888924378236
],
[
0.03658925245457585,
-0.9960942967450311,
-0.08035781602829369,
181.88364305199917
],
[
-0.0071463762563961615,
-0.08067041289598818,
0.9967152119786238,
11.729655028119675
],
[
0,
0,
0,
1
]
],
"timestamp": 2620
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003215/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": [
709,
417,
862,
557
],
"bbox_3d": [
18.40619774019387,
-1.8557171375552421,
-1.7111383299047027,
4.507769001824384,
1.958560625700343,
1.6297982260076718,
-0.08357941089001075,
0.006613362431526184,
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 \n4. Relationship with surrounding objects: a white car to the left front of the target, a silver SUV to the right rear of the target \n5. Summary: black car, rear lights on, stationary, rear facing observer, located in the center-right of the view, with a white car to its left front and a silver 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/001094/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001094/lidar.bin",
"others": [
{
"bbox_3d_other": [
19.30683105154762,
-5.720337391511196,
-1.825437633331351,
4.465330756546186,
1.9610670929985876,
1.6513304224872902,
-0.09560494660523466
],
"class_other": "Car"
},
{
"bbox_3d_other": [
40.28622988519112,
12.341308923142185,
-1.3511508282938554,
4.750022272319238,
2.00525584465541,
1.6124851406244667,
1.5509818444782453
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.687351561678724,
-5.500912899757081,
-1.6486412200021023,
4.479823052346801,
1.972454231263358,
1.7339257237885224,
-0.3389098307765477
],
"class_other": "Car"
}
],
"pose": [
[
0.04735215116965935,
-0.9975643098792674,
-0.051217393868751716,
18.98978463519362
],
[
0.995532003511686,
0.05132496484343613,
-0.07925766819575486,
133.7902254284547
],
[
0.08169335201602426,
-0.04723553364704544,
0.9955375435399034,
8.758362899902885
],
[
0,
0,
0,
1
]
],
"timestamp": 2248
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001094/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": [
54,
359,
147,
513
],
"bbox_3d": [
13.344314925111867,
6.335994334484493,
-0.8103729209814023,
0.8687950954500047,
0.7706497980357568,
1.6927130158489996,
-0.09729339855675079,
0.6675193309783936,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a light-colored backpack\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 the green outline, with the left side of the body visible\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 with a light-colored backpack, wearing dark clothes, moving left in frame, located at the top-left of the view, with a bicycle and tree 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/002003/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002003/lidar.bin",
"others": [
{
"bbox_3d_other": [
49.34307861328125,
11.309165954589844,
-1.1367764472961426,
4.553150177001953,
1.9727702140808105,
1.6156290769577026,
4.687180995941162
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.72278506147663,
-5.790193138088226,
-1.61987516495152,
4.4559379188217045,
1.953431720085893,
1.6821000374028845,
-0.4225185710292467
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.957762718200684,
6.865470886230469,
-0.7221835255622864,
0.8602231740951538,
0.7928465008735657,
1.79011070728302,
6.074021816253662
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.01686463500785973,
-0.9985606063690802,
-0.050914629468029965,
18.198625215689486
],
[
0.9969863869325166,
0.020650809580095686,
-0.07477759246547667,
127.4427519852221
],
[
0.07572138639313175,
-0.0495000956716423,
0.9958995994432372,
8.446309102991156
],
[
0,
0,
0,
1
]
],
"timestamp": 237
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002003/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": [
7,
357,
74,
482
],
"bbox_3d": [
17.23145264435827,
9.281132344216639,
-0.7978399827424489,
0.8517463189987751,
0.7964645918935285,
1.8340210778426094,
-3.0495391643630487,
0.9169653058052063,
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: top-left, near the left edge of the view; side profile facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a tree to the left of the target\n5. Summary: person wearing dark clothes and a backpack, located at the top-left of the view near a tree, moving left in frame, side profile 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/003098/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003098/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": [
16.497964673561867,
2.6904687819685478,
-1.312001129450948,
4.352885219746629,
1.9060829956342111,
1.6643068664022174,
-0.02742442630331121
],
"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"
}
],
"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/003098/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": [
1218,
405,
1279,
534
],
"bbox_3d": [
16.460791779678022,
-8.67980458401351,
-1.5761063337666257,
0.8449461849085417,
0.8078380741414029,
1.7830566654612163,
3.1945957620910095,
0.8810516595840454,
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/003444/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003444/lidar.bin",
"others": [
{
"bbox_3d_other": [
23.874853134155273,
-0.581978976726532,
-1.495749831199646,
4.454287052154541,
1.9346985816955566,
1.6345062255859375,
6.2964911460876465
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.25335186826002,
-4.441961902066453,
-1.65720072505448,
4.589043116451369,
1.9817253511794712,
1.648234236972484,
-0.07634333849593444
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.031436920166016,
-6.396892547607422,
-1.5933635234832764,
0.7811489105224609,
0.7736498117446899,
1.8035334348678589,
4.492005348205566
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.054324653469692,
-6.175246827678876,
-1.6155666428750965,
0.772426967533381,
0.7722274477640867,
1.7954252834389712,
1.657266474017849
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.06759338495908923,
0.9968617490155062,
0.04120421895289367,
-161.83891933811523
],
[
-0.9962341718913822,
-0.0651879142706921,
-0.05716651632667984,
63.81264377062961
],
[
-0.05430109635784551,
-0.044913129291806554,
0.9975140108046368,
4.515408765032193
],
[
0,
0,
0,
1
]
],
"timestamp": 3297
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003444/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": [
346,
400,
559,
568
],
"bbox_3d": [
15.887689009574508,
2.379538305704014,
-1.394728901200608,
4.47388409899364,
1.9652288966148286,
1.7190262580153495,
-0.010537438637233443,
0.9770787954330444,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark color, rear lights visible\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the center of the view; rear facing observer, side facing observer; partially occluded by the green bounding box, truncated at the top and right edges\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: A dark SUV, rear facing observer, side facing observer, stationary in the center-right of the view, partially occluded, 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/001283/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001283/lidar.bin",
"others": [
{
"bbox_3d_other": [
10.832228670693567,
2.5232277596717836,
-1.3425782933323867,
4.394915844016445,
1.9323306308945152,
1.732259727631086,
-0.07353571044197516
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.2868883753125715,
2.8886086732186413,
-1.3916364129551508,
4.324933549906902,
1.903179143334449,
1.6410131157121095,
-0.01081441839583297
],
"class_other": "Car"
},
{
"bbox_3d_other": [
-0.7628516203765514,
3.113823402314864,
-1.0692214242890552,
4.615125386759481,
2.0228936659806016,
1.9077817715989356,
0.015473508422800375
],
"class_other": "Car"
}
],
"pose": [
[
-0.9991251751157717,
-0.04066156742898127,
-0.009773504187186716,
-53.59992455687041
],
[
0.04127361191019099,
-0.9964155697930435,
-0.07384105385144103,
180.01373719472411
],
[
-0.006735978753342943,
-0.07417984367887871,
0.9972221304112798,
11.945562825876182
],
[
0,
0,
0,
1
]
],
"timestamp": 2491
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001283/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": [
381,
353,
551,
427
],
"bbox_3d": [
33.95234051555135,
5.120080089900597,
-0.5855360598734856,
4.696647174633142,
2.038105837809595,
1.8583147741986341,
0.8573154386624785,
0.8105907440185547,
1
],
"class": "car",
"description": "1. Appearance: car, light-colored (possibly white or light gray), with visible side profile and windows\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by a green bounding box; side facing observer\n4. Relationship with surrounding objects: a dark-colored car to the right rear of the target, a white van to the left rear of the target\n5. Summary: light-colored car, side facing observer, stationary, located in the center-left of the view, partially occluded, with a dark car to its right rear and a white van 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/001499/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001499/lidar.bin",
"others": [
{
"bbox_3d_other": [
23.21208381652832,
2.25288724899292,
-1.1645632982254028,
4.545367240905762,
1.9479957818984985,
1.6381011009216309,
0.2705686092376709
],
"class_other": "Car"
}
],
"pose": [
[
-0.2805368634969493,
0.9582375876465888,
0.05549589030315805,
-154.47334117472607
],
[
-0.9573650078005377,
-0.27519236535800407,
-0.08787151920698508,
170.8032404601089
],
[
-0.0689297472675679,
-0.07778102384202021,
0.9945847386078858,
10.741275182156002
],
[
0,
0,
0,
1
]
],
"timestamp": 2974
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001499/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": [
1043,
389,
1109,
508
],
"bbox_3d": [
18.12383531928889,
-6.315311669360775,
-1.3028385960919024,
0.8416144299206638,
0.7935981991929127,
1.7139615640027823,
-0.05090327396561545,
0.9911338090896606,
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/002378/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002378/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.331409454345703,
3.032095193862915,
-1.3612951040267944,
4.801140308380127,
2.0633981227874756,
1.8333160877227783,
6.279273509979248
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.368440628051758,
2.92799711227417,
-1.2844736576080322,
4.821163654327393,
2.0972180366516113,
1.9404470920562744,
-6.273694038391113
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.015598330104716,
2.8556380842352382,
-1.1618590189732674,
4.979063174960011,
2.1555178781320192,
2.131235708219842,
0.00003967696907603013
],
"class_other": "Car"
},
{
"bbox_3d_other": [
-2.9512481354622757,
3.284415541329423,
-1.5385827061837298,
4.466019589353102,
1.936229155278256,
1.6114588438409612,
-0.01699983107228409
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.451467345746764,
3.037364164306041,
-0.5259180465220497,
7.882119639555412,
2.8533790574569178,
3.2580222694984737,
0.018636477628717785
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.85650634765625,
-8.542999267578125,
-1.166656255722046,
0.794967770576477,
0.7670201063156128,
1.7559407949447632,
2.9976699352264404
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9995577993078354,
-0.02961573330193214,
0.0026672427459296776,
-19.958136585419133
],
[
0.02939253786285181,
-0.9976290842528218,
-0.06222771866987415,
179.30440433121635
],
[
0.004503838458216463,
-0.06212180449620736,
0.9980584135436549,
12.144465521875457
],
[
0,
0,
0,
1
]
],
"timestamp": 624
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002378/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": [
748,
420,
1064,
656
],
"bbox_3d": [
11.879905598362248,
-2.1259947943440594,
-1.5074903360169731,
4.559026990620075,
1.9498399853535588,
1.6112699905355874,
0.054217900492537385,
0.9974464178085327,
1
],
"class": "car",
"description": "1. Appearance: sedan, black, with visible rear lights and license plate\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 green bounding box, slightly blurred\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the left rear of the target\n5. Summary: black sedan, rear facing observer, stationary, located at bottom-right of the view, partially occluded, with a pedestrian 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/000323/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000323/lidar.bin",
"others": [
{
"bbox_3d_other": [
26.169373972080535,
-1.393472929960958,
-1.5883515871625131,
4.425922508813454,
1.9437002793410671,
1.6367913515941062,
-0.04907619721045986
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.9190555733108,
-5.139615896518204,
-1.474347090901877,
4.643041625641143,
2.0128302908304967,
1.6918198495861472,
6.347395457629641
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.378450393676758,
2.5225954055786133,
-1.2417689561843872,
0.8188809156417847,
0.7741137146949768,
1.7176432609558105,
2.9869768619537354
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.741081992860387,
-8.704756893255801,
-1.7304349229015359,
0.859420032125424,
0.8250779475004125,
1.812062314264072,
0.13245522195789006
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.07930019959472356,
-0.9958691856779376,
-0.044227178989832985,
19.35071521363463
],
[
0.9936478496986056,
0.08252129205383973,
-0.07651266004461263,
160.79946307269225
],
[
0.07984628440681868,
-0.03787877208842188,
0.996087229860668,
10.881011409611542
],
[
0,
0,
0,
1
]
],
"timestamp": 459
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000323/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": [
726,
309,
832,
426
],
"bbox_3d": [
43.68049186355701,
-4.163297023312234,
-0.06465206704616833,
10.05356400055672,
2.9537572105570282,
3.5718705468306693,
-0.02907945848297855,
0.9057153463363647,
1
],
"class": "car",
"description": "1. Appearance: car, black, with visible rear lights and a rear windshield\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 white bus to the left front of the target, a pedestrian crossing the street in front of the target\n5. Summary: black car, rear facing observer, stationary, located at center-right near the right edge of the view, with a white bus to its left front and a pedestrian crossing 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/000608/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000608/lidar.bin",
"others": [
{
"bbox_3d_other": [
36.36574917505304,
-0.07996063469991554,
-0.4804788968901308,
9.046435151093442,
2.857900831651886,
3.226690369769021,
-6.238559741224588
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.22650867449046,
-4.104540501032119,
-1.4357666617807854,
4.871149370198718,
2.0422091548298416,
1.6834606434026957,
-5.384232661120363
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.949233055114746,
3.9078495502471924,
-1.212640643119812,
0.8214108347892761,
0.7791235446929932,
1.7310701608657837,
-4.530707359313965
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.506460189819336,
-0.16436728835105896,
-1.23309326171875,
0.8598249554634094,
0.8144643902778625,
1.84766685962677,
-1.2393770217895508
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.110511731336146,
3.6715582627061565,
-1.2231541820312226,
0.7935994279816664,
0.7654383096202917,
1.7331797575318642,
-4.556291644150458
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.096021891410999,
5.812775072749616,
-1.0297237801129788,
0.8032712842190582,
0.7645987527844306,
1.7602530148853905,
-2.5287848396028085
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999154659149196,
-0.00852040459220757,
-0.009821595070783683,
-96.37528454050687
],
[
0.009303597372368674,
-0.9965336344081741,
-0.08266896980831778,
181.4151120649464
],
[
-0.009083176761585612,
-0.0827533576286835,
0.9965286637629132,
11.866676578940229
],
[
0,
0,
0,
1
]
],
"timestamp": 1043
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000608/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": [
60,
347,
258,
420
],
"bbox_3d": [
28.207074091702143,
11.77944572538149,
-0.3574372759854736,
4.602386533233889,
1.980568498911473,
1.6361903790326355,
1.53639398660422,
0.9477570056915283,
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/000131/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000131/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.581968307495117,
-6.113495826721191,
-1.6350057125091553,
4.440855503082275,
1.9265944957733154,
1.5815283060073853,
-6.362258434295654
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.641580581665039,
-5.711591720581055,
-1.5392282009124756,
4.378761291503906,
1.940332293510437,
1.689982295036316,
-0.051653504371643066
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.51693344116211,
-2.436340808868408,
-1.3525115251541138,
4.729826927185059,
1.989159107208252,
1.6470162868499756,
-0.019773542881011963
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.365304650235771,
-2.0080761867923798,
-1.4767390069744821,
4.473179440246305,
1.9181292725146721,
1.5771731065644876,
-0.14364438363112964
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.894638061523438,
-1.2534364461898804,
-1.0211808681488037,
0.8582442998886108,
0.8018588423728943,
1.790356159210205,
2.281400680541992
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.896843229200783,
6.732951275698733,
-0.354893237432406,
0.8019038132803417,
0.7684512590838756,
1.8233442205834614,
0.7179245951027582
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.755024744028816,
4.868454678357972,
-0.5613559638888742,
0.8910239199967245,
0.8066096229532339,
1.7720007160991238,
-3.1422658757832425
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.999542097908744,
7.885204756409204,
-0.3030958530990232,
0.7841143805465617,
0.7526299974448399,
1.7803697765156363,
-2.107708061291897
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0007564055996925334,
-0.9973363506128844,
-0.07293580462806268,
18.700167060390914
],
[
0.9981884181687387,
0.0051408960776180845,
-0.05994541701673942,
147.2810083731477
],
[
0.0601606988353727,
-0.07275833240044267,
0.995533482803038,
9.89106792142346
],
[
0,
0,
0,
1
]
],
"timestamp": 287
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000131/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": [
1134,
399,
1208,
550
],
"bbox_3d": [
14.426091195064686,
-6.343740596863018,
-1.4093065281688908,
0.8233941553161828,
0.7973605486958288,
1.786385386163504,
-3.7384840256830185,
0.9754931926727295,
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/002913/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002913/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.509202003479004,
-4.731561183929443,
-1.6090819835662842,
4.539577007293701,
1.9266400337219238,
1.5356199741363525,
-6.2677998542785645
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.721956512464487,
3.2277554274728573,
-0.9923525103941451,
4.821647132671398,
2.0403930614649513,
1.8045740121148204,
0.6088853594020662
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.073423827681353,
-1.6746696915662316,
-1.4805636639335567,
4.407147656344524,
1.9092548682801453,
1.5824180266472783,
0.009935468138623227
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.6763825906984096,
-4.91826347667015,
-1.425309915103965,
4.609322351902046,
1.9999597208760234,
1.7127903821350474,
0.0372433241214456
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.71681785583496,
7.103884696960449,
-0.8843332529067993,
0.8206320405006409,
0.7661437392234802,
1.7208502292633057,
9.343461036682129
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.078447028445737,
6.3895724642763625,
-0.9817081106393082,
0.7436092579699846,
0.7215778011719431,
1.7192917412350324,
-2.654347858827226
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.803520903901273,
-7.495962482205327,
-1.4907763183347,
0.8228700331684816,
0.7969694380889222,
1.764435383571076,
-0.38259853260779253
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.207897962721262,
-7.935574604086282,
-1.6274422653600964,
0.8347149507034738,
0.7936118215005818,
1.717397907922978,
0.04374252572507764
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.06894068201250203,
-0.9966612080762808,
-0.04374492747256294,
20.782227387342296
],
[
0.9955359792424697,
0.0715637753960271,
-0.06153649392680788,
156.34055687519114
],
[
0.06446158854223305,
-0.03930728134831643,
0.9971457472383946,
10.366458166782929
],
[
0,
0,
0,
1
]
],
"timestamp": 2294
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002913/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": [
289,
358,
358,
473
],
"bbox_3d": [
20.114817246411803,
5.375135549762017,
-0.8042207996103024,
0.865293761325527,
0.8041305257636499,
1.8282063884770672,
-3.4442511532346334,
0.9954493641853333,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing yellow top and dark pants, with a hat \n2. Motion state: moving toward camera \n3. Position to viewer: center-left, 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 truck to the right of the target \n5. Summary: person wearing yellow top and dark pants, with a hat, moving toward camera, located at center-left of the view, side profile facing observer, with a pedestrian to the right front and a white truck 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/002692/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002692/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.06796694211505,
3.7470953201186035,
-0.9326535618101897,
0.8244952539435275,
0.7734984441783522,
1.7830400037056027,
-0.18988096111385522
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.385512213883686,
-6.936528654886843,
-1.4311725123993684,
0.7740400621636969,
0.7535767523480243,
1.7378445717154956,
-3.5896825700626716
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9998707615588116,
-0.011616344487123282,
-0.011113987608355845,
-137.2631750779729
],
[
0.012747758622257096,
-0.994087332313917,
-0.10783260352559865,
181.11196947296287
],
[
-0.009795653623463652,
-0.10796034583937178,
0.9941069403722783,
11.619635008576015
],
[
0,
0,
0,
1
]
],
"timestamp": 1154
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002692/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": [
886,
401,
1050,
531
],
"bbox_3d": [
19.980049067181707,
-4.935912458480033,
-1.5731288486228978,
4.604362275329654,
2.0048766580000623,
1.7424795863368354,
-0.0951038168277285,
0.9828941226005554,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, 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 a yellow taxi to its right and a white bus to its left\n4. Relationship with surrounding objects: a yellow taxi 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, located at the bottom-right of the view, partially occluded by a yellow taxi on the right and a white bus on 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/000860/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000860/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.973443031311035,
-4.770674228668213,
-1.641710638999939,
4.702832221984863,
1.992236614227295,
1.6395734548568726,
6.244250297546387
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.7812557220459,
-0.895850658416748,
-0.6321105360984802,
11.38308048248291,
3.036755084991455,
3.535358428955078,
6.346315860748291
],
"class_other": "Car"
}
],
"pose": [
[
-0.05172866125034997,
0.9978614778561719,
0.03995768531764069,
-161.7444176385597
],
[
-0.9974765491815285,
-0.0496776518332957,
-0.05072144261789059,
47.51852914411237
],
[
-0.04862796971041116,
-0.042480606387231584,
0.9979131819165517,
3.6196745603945795
],
[
0,
0,
0,
1
]
],
"timestamp": 1533
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000860/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": [
131,
388,
229,
556
],
"bbox_3d": [
12.358255874924197,
4.902394036793984,
-1.1160605833057122,
0.8108424616499782,
0.7542806627075802,
1.676151073038583,
-1.5288411951892236,
0.9928951263427734,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, carrying 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 traffic light to the left of the target \n5. Summary: person wearing dark clothes and carrying a bag, located at the left-center of the view, moving left in frame, with a traffic light 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/003189/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003189/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.326878240423596,
-3.6786003229875632,
-0.08506623636380506,
9.973597593311966,
2.956862981927596,
3.560694703253453,
-0.018845043144461116
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.944825172424316,
-5.2022833824157715,
-1.2036521434783936,
0.8251587748527527,
0.7972322106361389,
1.8334237337112427,
8.145263671875
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.547755310205943,
-5.062600108639998,
-1.326161748818371,
0.8226163694513277,
0.7927877996133051,
1.7542782251028997,
-4.522694963819747
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.64924073483482,
-5.329328654431322,
-1.2317957038100646,
0.8126433614070101,
0.7913130441155263,
1.8296541445305379,
-4.284660577953155
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9992733626195754,
-0.035961077610769436,
-0.012631217520055273,
-94.52108055377374
],
[
0.03685764716074185,
-0.9961209176393687,
-0.07990388780952037,
181.88402203587944
],
[
-0.009708790076059553,
-0.0803113836163615,
0.9967225396552868,
11.728593016886414
],
[
0,
0,
0,
1
]
],
"timestamp": 2567
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003189/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": [
692,
405,
816,
508
],
"bbox_3d": [
23.9575320525636,
-1.7902967849007396,
-1.6767982056958601,
4.440607070922852,
1.9368733167648315,
1.6330252885818481,
0.015521719368789322,
0.40855666995048523,
1
],
"class": "car",
"description": "1. Appearance: car, black, rear lights on\n2. Motion state: stationary\n3. Position to viewer: center, 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 of the target, a blue car to the right of the target\n5. Summary: black car, rear lights on, stationary, located in the center-right of the view, rear facing observer, with a white van to its left and a blue 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/001167/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001167/lidar.bin",
"others": [
{
"bbox_3d_other": [
29.378952026367188,
2.0057363510131836,
-1.3866130113601685,
4.637268543243408,
2.0041515827178955,
1.7087560892105103,
0.401108980178833
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.297772320862606,
-5.225682957634401,
-1.7281653678445525,
4.449653232619734,
1.9450460073622613,
1.6371221181364517,
-0.021977839829742107
],
"class_other": "Car"
},
{
"bbox_3d_other": [
31.769843552986544,
13.665728772368272,
-1.235295104939943,
4.572924138361019,
1.9699753506650794,
1.6266563942410124,
1.534399274665885
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.752364152073767,
-5.150897975940191,
-1.6157892135781406,
4.497048784305942,
1.9768627701972354,
1.7242239316665084,
-0.35405734316324344
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.1923059662046,
-4.940837237400956,
-1.7527400895575125,
4.405528883526925,
1.9299577555900218,
1.6059264077865425,
-0.0011718159469098488
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.49250144471486,
-5.081273562937847,
-1.6299458412818912,
4.637267099444853,
2.0255346500242926,
1.7996609094617797,
0.058399045414685435
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.546603428709147,
5.1954144381651,
-1.0640305907446643,
0.801143739899813,
0.748479774858313,
1.671436668158327,
-3.3199150872012355
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.06881485551360444,
-0.9962780327023091,
-0.05190950987496236,
19.640755458774844
],
[
0.9947433711890687,
0.0724778405465697,
-0.07233663045174832,
142.5735952290472
],
[
0.07582968505834985,
-0.04665880607691424,
0.9960285210170583,
9.386455478523072
],
[
0,
0,
0,
1
]
],
"timestamp": 2269
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001167/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,
386,
1024,
500
],
"bbox_3d": [
22.938823796733068,
-5.159729084927335,
-1.3846888088149303,
4.436619192711815,
1.9596758687982256,
1.8103328732556323,
0.06856999179842904,
0.9976094961166382,
1
],
"class": "car",
"description": "1. Appearance: car, red, with visible rear lights and trunk\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 a white car to the left\n4. Relationship with surrounding objects: a white car to the left of the target, a building to the right of the target\n5. Summary: red car, rear facing observer, stationary, located at the bottom-right of the view, partially occluded by a white car to its left, 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/001654/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001654/lidar.bin",
"others": [
{
"bbox_3d_other": [
16.32630242774343,
-5.074975854107606,
-1.6021244733490327,
4.474182453846852,
1.9197012625878527,
1.5693959403229052,
0.0031867673655632256
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.585318169085213,
-1.0256989506084722,
-1.0173402580643298,
5.370603250888215,
2.186753383176873,
1.9634189590226885,
0.04236742158330897
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.877094934456082,
-5.074280496247098,
-1.433548604071147,
4.462328133722467,
1.9389150872498795,
1.6409996013982096,
0.055539798092694825
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.237797549359826,
-0.9437525762843393,
-1.3985759008129062,
4.497560331483951,
1.9279748344060006,
1.5939207748585211,
-0.0027635617233408016
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.973663305725537,
-10.29299387856031,
-0.9668422293678169,
0.7569405135373216,
0.7533832126096105,
1.9305662919560906,
3.0853121089127216
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.06024819943268467,
0.9965817791378033,
0.05652355222073192,
-158.67824203702742
],
[
-0.9961301956133217,
-0.05639764871128827,
-0.06740874280984212,
104.43811516689433
],
[
-0.06399052939681607,
-0.060366072510711404,
0.9961230593843045,
6.770311126420369
],
[
0,
0,
0,
1
]
],
"timestamp": 3156
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001654/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,
312,
812,
426
],
"bbox_3d": [
44.057975542629904,
-3.655681482843499,
-0.08591254801636694,
9.458175879520024,
2.9115027097875514,
3.529026261945095,
-0.03260784086858681,
0.6053673028945923,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with a rectangular shape\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right; rear 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 white truck to the right 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 car to its left front and a pedestrian and white truck 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/001413/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001413/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.708642959594727,
-1.6189528703689575,
-1.3928967714309692,
4.5325117111206055,
1.941964030265808,
1.6059845685958862,
0.3739922046661377
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.443285899208988,
-7.344047459022562,
-1.2298394450614714,
4.73773772012992,
2.029955312365391,
1.7715621673669972,
-5.064888980279126
],
"class_other": "Car"
}
],
"pose": [
[
-0.9993071505562297,
-0.0358564866512161,
-0.009976533076204587,
-94.50779205858801
],
[
0.036542950135649066,
-0.9961024130663081,
-0.08027823789086411,
181.88143205005235
],
[
-0.0070591531059263045,
-0.08058718910912493,
0.9967225658672114,
11.730886136382527
],
[
0,
0,
0,
1
]
],
"timestamp": 2764
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001413/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": [
26,
335,
100,
473
],
"bbox_3d": [
15.33170954018357,
7.891104155083033,
-0.515549929530227,
0.7813364872002617,
0.7517570509057669,
1.7861167820715358,
1.0237920689981193,
0.9013405442237854,
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\n4. Relationship with surrounding objects: a person on a bicycle to the right front of the target, a tree trunk in front of the target, a pedestrian crossing behind the target\n5. Summary: person wearing dark clothes and carrying a light-colored bag, moving left in frame, located at the top-left of the view, partially occluded by a tree trunk, with a cyclist to the right front and a pedestrian crossing behind"
}
],
"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/002095/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002095/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": [
15.544965106433779,
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/002095/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": [
660,
335,
775,
467
],
"bbox_3d": [
36.72474867118858,
-1.72998263267624,
-0.8946204652752172,
9.458234868137607,
2.8810033959544583,
3.320871442107415,
-0.021170045530007453,
0.004273787438869477,
1
],
"class": "car",
"description": "1. Appearance: bus, white, rear facing observer\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right, near the center of the view; rear facing observer, with visible rear lights and destination sign\n4. Relationship with surrounding objects: a white car to the right front of the target, a red car to the right of the target, a pedestrian to the left front of the target\n5. Summary: white bus, rear facing observer, moving away from camera, located in the center-right of the view, with a white car and a red 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/000769/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000769/lidar.bin",
"others": [
{
"bbox_3d_other": [
21.169870376586914,
-5.282563209533691,
-1.6884788274765015,
4.45436429977417,
1.9483453035354614,
1.6554898023605347,
6.358745574951172
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.650808322295845,
-5.136801638736529,
-1.7740862234964396,
4.62208685903093,
2.0009300135156014,
1.6596783219206572,
-0.020167813919183653
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.612543028481284,
-5.265560501962881,
-1.7959956862285935,
4.390380172801266,
1.9337200248346036,
1.6486381054422599,
0.02491758890036766
],
"class_other": "Car"
}
],
"pose": [
[
-0.03131711537293569,
0.99715796751194,
0.06852172000304188,
-159.20969600980337
],
[
-0.9985030504003021,
-0.028136238149804482,
-0.04690426893225752,
93.9987314241495
],
[
-0.04484302204368353,
-0.06988805284334741,
0.9965464181079351,
6.173438700308542
],
[
0,
0,
0,
1
]
],
"timestamp": 1460
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000769/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": [
1083,
422,
1136,
541
],
"bbox_3d": [
18.54665503218183,
-7.059823092754538,
-1.8711865301987523,
0.7989150928467963,
0.8011062983525309,
1.7753941991536633,
-0.3694236211013746,
0.5830352306365967,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing light-colored top and dark pants, with a backpack \n2. Motion state: stationary \n3. Position to viewer: bottom-right, near the right edge of the view; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the left, a traffic cone to the left \n5. Summary: person wearing light top and dark pants with a backpack, standing on the sidewalk at the bottom-right of the view, side profile facing observer, near a traffic cone and a white 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/002331/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002331/lidar.bin",
"others": [
{
"bbox_3d_other": [
19.53258514404297,
-8.322310447692871,
-1.9064099788665771,
0.8563246726989746,
0.8379121422767639,
1.7631251811981201,
-0.024811267852783203
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.786491000832427,
6.1934043805103265,
-1.387585719428078,
0.759177553558563,
0.7469848592955098,
1.7422688712749852,
0.2574782835118712
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.06406891176587437,
-0.997072903489236,
-0.04172289147076926,
19.800869669965227
],
[
0.9939265559988524,
0.06750350187759291,
-0.08690959966840373,
166.058682461585
],
[
0.08947164816519809,
-0.03590128635309316,
0.9953421129505153,
11.339710894985028
],
[
0,
0,
0,
1
]
],
"timestamp": 512
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002331/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,
818,
429
],
"bbox_3d": [
44.419746208353956,
-3.7613596025561336,
-0.11837689549212982,
10.630990535297373,
2.9980230207269707,
3.6433891086594974,
-0.025655899319871445,
0.9773285984992981,
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 a pedestrian in the foreground\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a traffic light to the left of the target\n5. Summary: white truck with a large cargo box, rear facing observer, located at the center-right of the view, partially occluded by a pedestrian, with a traffic light 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/001474/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001474/lidar.bin",
"others": [
{
"bbox_3d_other": [
15.121105194091797,
8.6767578125,
-0.9686961770057678,
0.7775087356567383,
0.7368091940879822,
1.716728925704956,
3.3423736095428467
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
7.5847978591918945,
-0.7167268395423889,
-1.323691725730896,
0.870219886302948,
0.8221643567085266,
1.7911685705184937,
5.1523027420043945
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.185181339862908,
-3.5792114287640686,
-1.3508883153483826,
0.8594473385913716,
0.8167184546728975,
1.8062261715353987,
-1.472975954347626
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.245233930944508,
8.641361756517512,
-0.9040173172723776,
0.837929529594433,
0.7763047338890756,
1.7520756993115094,
-3.1417091155422847
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993029680983778,
-0.035948646194096275,
-0.010063438109525369,
-94.50851761133453
],
[
0.0366408870649309,
-0.996109282152954,
-0.08014825889451212,
181.88140593394172
],
[
-0.007143062709198351,
-0.0804611263004592,
0.9967321524911263,
11.730123495447124
],
[
0,
0,
0,
1
]
],
"timestamp": 2852
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001474/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": [
1156,
399,
1279,
535
],
"bbox_3d": [
17.08900659905838,
-9.079201287259894,
-1.4958635632322324,
4.543231964111328,
1.9744155406951904,
1.6727592945098877,
2.41434133145553,
0.6712563037872314,
1
],
"class": "car",
"description": "1. Appearance: car, white, compact\n2. Motion state: stationary\n3. Position to viewer: bottom-right, near the right edge of the view, partially occluded by the frame; side facing observer\n4. Relationship with surrounding objects: a building with red awnings to the left of the target, a pedestrian to the left front of the target\n5. Summary: white compact car, stationary, located at the bottom-right near the right edge of the view, side facing observer, partially occluded, to the right of a building with red awnings 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/001425/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001425/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.15505599975586,
-3.7220816612243652,
-0.09059255570173264,
9.963762283325195,
2.9539899826049805,
3.6350080966949463,
-6.307870864868164
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.35495656090744,
-0.547365853959576,
-1.289378727927297,
4.618295854200811,
1.9924964763978341,
1.6933218252650506,
-6.110055866640373
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.094990730285645,
6.301517486572266,
-1.0176892280578613,
0.7834405303001404,
0.7582801580429077,
1.7728241682052612,
7.671992301940918
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.687493362507198,
4.727443763968438,
-1.0543147209316486,
0.817923447155491,
0.775428670034637,
1.8164715638449307,
-4.941554064338793
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.999303113537024,
-0.03588707855256585,
-0.01026668730272971,
-94.5078299680323
],
[
0.03659575111459109,
-0.9961122571208824,
-0.08013190509341586,
181.88098038156323
],
[
-0.007351073089622227,
-0.08045177938680581,
0.9967313945682298,
11.729960311445028
],
[
0,
0,
0,
1
]
],
"timestamp": 2709
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001425/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": [
625,
381,
705,
514
],
"bbox_3d": [
17.178540594487874,
-0.14499768906539146,
-1.1280301089437401,
0.7837730556410675,
0.7520672153731384,
1.7367478524558888,
-0.6811499763083271,
0.9593002200126648,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and blue jeans, with a backpack\n2. Motion state: moving away from camera\n3. Position to viewer: center-right, slightly right of the center, near the right edge of the view; back to observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the right\n5. Summary: person wearing dark top and blue jeans with a backpack, seen from the back, moving away from camera, located at center-right of the view, near a pedestrian 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/003007/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003007/lidar.bin",
"others": [
{
"bbox_3d_other": [
42.89159824620347,
-16.32068398957753,
-0.6347405711578689,
5.018932902490561,
2.126497379923224,
1.9519726229952528,
1.257738687439859
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.31167984008789,
1.2551616430282593,
-1.3666187524795532,
0.8497425317764282,
0.7976317405700684,
1.7220616340637207,
2.6899631023406982
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.458524703979492,
-2.4001893997192383,
-1.3092231750488281,
0.7750566601753235,
0.7587952613830566,
1.7612144947052002,
-0.5943732857704163
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.321917533874512,
-3.2970521450042725,
-1.520407795906067,
0.8282030820846558,
0.7878881692886353,
1.7214341163635254,
-2.2341058254241943
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.360032657492837,
-1.9524443448016484,
-1.2752227990388447,
0.7892412177802577,
0.7651479667519862,
1.7360780725616765,
-0.6036465413371768
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.613736516049215,
-0.7634601802561107,
-1.1871547903783464,
0.785497042440599,
0.7523146380660355,
1.7404606983225832,
-0.6469177056935067
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.23424191105808395,
-0.9712515298019936,
-0.042440463724423366,
20.431838038052497
],
[
0.9702560737984577,
-0.23081197987991947,
-0.07299987124039041,
169.1135607902663
],
[
0.061105469158321685,
-0.058277747049787984,
0.9964285352386004,
11.37868034669436
],
[
0,
0,
0,
1
]
],
"timestamp": 2338
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003007/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": [
266,
419,
681,
615
],
"bbox_3d": [
13.69240229939001,
2.162653388351714,
-1.5245374291909735,
4.666547741635647,
1.9731312477892364,
1.6184045918385377,
0.8712423390940909,
0.9983686804771423,
1
],
"class": "car",
"description": "1. Appearance: sedan, silver, with a sleek body and a sloping rear roofline\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the right edge of the view; rear facing observer, side facing observer; partially occluded by the green bounding box, rear of the car is visible\n4. Relationship with surrounding objects: a black car to the left front of the target, a white car to the right rear of the target, a pedestrian to the left front of the target\n5. Summary: silver sedan parked on the street, rear facing observer, side facing observer, located in the center-right of the view, with a black car to its left front and a white car 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/000013/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000013/lidar.bin",
"others": [
{
"bbox_3d_other": [
5.665249844560952,
-5.031291950119715,
-1.4348515084487523,
4.711381951400053,
2.032182951495394,
1.7431088420700247,
0.39165782417213
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.71142300449459,
6.928331115806582,
-1.484457320936231,
4.54977874164543,
1.9555167712422603,
1.6548103080690297,
0.9190598817283291
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.27404261864727,
3.2618180266170125,
-1.405229337358256,
0.8610280276062073,
0.8099226258938848,
1.7555944486221624,
-2.5310086197054646
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.050329932479002,
10.492782438183934,
-1.233178277660847,
0.8174643516540527,
0.7807607054710388,
1.785823106765747,
-8.793845546930124
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.7157388356617278,
-0.6982508005011193,
-0.012796043339261511,
11.09250101629075
],
[
0.6967279812553072,
0.7151930953898503,
-0.05539816280878729,
3.9565733553482034
],
[
0.04783345337207617,
0.030735255102741152,
0.9983823440106856,
0.2601482856656887
],
[
0,
0,
0,
1
]
],
"timestamp": 63
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000013/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": [
921,
409,
1080,
524
],
"bbox_3d": [
21.52919882859203,
-5.948639322166667,
-1.7332690141486715,
4.461356957791163,
1.9521208283533986,
1.6429122646610148,
-0.0628277700380353,
0.8665632605552673,
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; the target is partially occluded by a white tent structure on the right side\n4. Relationship with surrounding objects: a dark SUV to the left front of the target, a white van to the left rear of the target\n5. Summary: dark-colored car, rear facing observer, stationary, located at the bottom-right of the view, partially occluded by a tent, with a dark SUV to its left front and a white van 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/001121/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001121/lidar.bin",
"others": [
{
"bbox_3d_other": [
16.284116744995117,
-5.646840572357178,
-1.5950506925582886,
4.477924346923828,
1.970373511314392,
1.7415326833724976,
5.909157752990723
],
"class_other": "Car"
},
{
"bbox_3d_other": [
42.60378646850586,
11.581746101379395,
-1.1404314041137695,
4.650454044342041,
1.9966858625411987,
1.6667420864105225,
4.6730756759643555
],
"class_other": "Car"
},
{
"bbox_3d_other": [
35.579150028861704,
-3.0879112698950504,
-0.7593597873103222,
7.715353117088994,
2.787089944629736,
3.1166636639348373,
-0.1026245345993313
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.870272707181641,
-1.2548382805701888,
-1.5563291431972512,
4.4931959383923346,
1.9497936121649022,
1.6208621297870103,
-0.10977357789587572
],
"class_other": "Car"
}
],
"pose": [
[
0.03542417471682907,
-0.9980635688914641,
-0.0511296420607968,
18.838593647588173
],
[
0.9966030989803134,
0.039085832678067034,
-0.07248834931696174,
131.05857531921887
],
[
0.07434642525681572,
-0.04838811977640567,
0.9960578291023252,
8.563513889039282
],
[
0,
0,
0,
1
]
],
"timestamp": 2232
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001121/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": [
1013,
418,
1279,
667
],
"bbox_3d": [
11.246957648236735,
-4.774527024324982,
-1.5567712560737874,
4.635523737443719,
2.0016036392529792,
1.721124692745855,
-0.09943615680244755,
0.9899489879608154,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark-colored, with visible rear lights and a 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; cannot clearly determine\n4. Relationship with surrounding objects: a silver car to the left front of the target, a white bus to the left of the target\n5. Summary: dark-colored SUV, rear facing observer, stationary, located at the bottom-right of the view, to the right of a white bus and in front of a silver 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/000864/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000864/lidar.bin",
"others": [
{
"bbox_3d_other": [
39.235870361328125,
20.325485229492188,
-0.5359964966773987,
4.675222873687744,
1.9975167512893677,
1.661971926689148,
4.735475540161133
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.277080476445224,
0.8030196580192239,
-0.5475985863326756,
13.021166747735084,
3.079090825554647,
3.45069692723428,
0.27528738389166496
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.350785896836882,
-4.665267746396381,
-1.6625735586066348,
4.679450507051844,
1.9927205464548587,
1.6447103508304992,
-0.04719881631291534
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.80580387784223,
-4.635015018204257,
-1.6161685695465557,
4.394095549174858,
1.9340093781402685,
1.651107422009354,
-0.009845231159352208
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.679910659790039,
-6.504403114318848,
-1.4804400205612183,
0.8680635690689087,
0.8188265562057495,
1.7678555250167847,
3.0293943881988525
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.05271532590257022,
0.9972206189494346,
0.052651035669704575,
-162.24548539747232
],
[
-0.9971111500093259,
-0.04967576904125803,
-0.05746018184133305,
38.90881895584812
],
[
-0.05468499741304992,
-0.055527966937987984,
0.9969584725281533,
3.1823560448159545
],
[
0,
0,
0,
1
]
],
"timestamp": 1549
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000864/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": [
393,
384,
451,
488
],
"bbox_3d": [
22.711356596395095,
4.198181079163561,
-1.2675072296768413,
0.7568254470825195,
0.7331750392913818,
1.8249691724777222,
-2.0557828334076884,
0.5,
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-left, slightly above center, partially occluded by the SUV's rear; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white van to the left rear of the target \n5. Summary: person wearing dark top and light pants with a backpack, moving left in frame, located at center-left of the view, partially occluded by an SUV, with a pedestrian to the right 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/002963/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002963/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.830669403076172,
3.8522841930389404,
-1.2318934202194214,
4.783552646636963,
2.0532147884368896,
1.8378140926361084,
-5.579638481140137
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.413637161254883,
-8.183680534362793,
-1.7893931865692139,
0.8343102335929871,
0.7994374632835388,
1.7130930423736572,
6.466156482696533
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.904904158994782,
-9.005143398928597,
-1.9049429753111498,
0.8393102445885983,
0.8049344875629706,
1.712733399513555,
-3.2825812262161715
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
23.012382702610097,
2.3701327834068078,
-1.388390064523755,
0.724540714460173,
0.7200483037085974,
1.800777749463053,
-2.343832085190306
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.643198590340063,
6.701866300559713,
-1.20929692657822,
0.7842630103160518,
0.7563369929883775,
1.7478546566433377,
-2.7710422965219133
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.884338630254206,
3.6867012533725454,
-1.3142867892812062,
0.7227168083190918,
0.7096166014671326,
1.7843515872955322,
-2.4212539580567363
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.9464287251713,
3.448904043911206,
-1.4703298969365277,
0.7955074906349182,
0.7527439594268799,
1.6923128366470337,
-1.366026439975071
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.037314208223853895,
-0.9984879888534346,
-0.04036565346988262,
21.076643435376074
],
[
0.995921081460367,
0.04047827133596005,
-0.08063937656297751,
161.09436456364358
],
[
0.08215138080056944,
-0.03719201076946721,
0.995925652329271,
10.727656380158617
],
[
0,
0,
0,
1
]
],
"timestamp": 2305
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002963/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": [
261,
376,
327,
492
],
"bbox_3d": [
19.116518375608255,
5.595212950750174,
-1.0615773169773544,
0.8184614429142009,
0.7786797024155364,
1.7633559598513433,
-3.252880426306648,
0.9887058734893799,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and light-colored pants, with a hat \n2. Motion state: moving away from camera \n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a pole; side profile facing observer \n4. Relationship with surrounding objects: a person to the left front of the target, a bicycle to the left of the target, target is on a crosswalk \n5. Summary: person wearing dark top and light-colored pants with a hat, moving away from camera, located at left-center of the view, side profile facing observer, partially occluded by a pole, with a person to the left front and a bicycle 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/002873/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002873/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.581050872802734,
6.8743181228637695,
-0.9575017094612122,
0.8010760545730591,
0.7592951059341431,
1.7525488138198853,
3.089373826980591
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.240851402282715,
2.531010866165161,
-1.3867720365524292,
0.8025383949279785,
0.7637957334518433,
1.651827335357666,
1.5182777643203735
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.438175884454736,
2.0303827331035915,
-1.394469500571431,
0.8052316934794086,
0.7674986162625839,
1.6987983235751956,
1.2016373570872774
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.04724849436106088,
-0.9978776125057319,
-0.04480904194995358,
17.72826401236514
],
[
0.9957267907652675,
0.050615139006109866,
-0.07724160702427843,
100.88122008803546
],
[
0.07934568629052045,
-0.04096801390416763,
0.9960049617867544,
6.433412584804929
],
[
0,
0,
0,
1
]
],
"timestamp": 2116
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002873/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": [
885,
395,
946,
498
],
"bbox_3d": [
22.285140214916314,
-4.677518806950811,
-1.4861989838396923,
0.8465061082390052,
0.8033499426303097,
1.769569574646478,
-4.482940761380648,
0.9337672591209412,
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: top-right, near the right edge of the view; side profile facing observer \n4. Relationship with surrounding objects: a black car to the left front of the target, a white car to the right front of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at the top-right of the view, with a black car to their left front and a white car 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/002052/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002052/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.405331611633301,
-2.1594109535217285,
-1.5330334901809692,
4.492888927459717,
1.936988353729248,
1.6022242307662964,
6.126060962677002
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.454327583312988,
-2.4502456188201904,
-1.5559406280517578,
4.815306663513184,
2.013232946395874,
1.6338618993759155,
6.267462730407715
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.540508270263672,
-5.927375316619873,
-1.6106717586517334,
4.642448902130127,
2.007986545562744,
1.723088264465332,
6.270294189453125
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.122990909046052,
11.76318468419862,
-0.8284385101005305,
4.5415317028373465,
1.9491007662414428,
1.594576089067268,
1.515677689317509
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.40072930625402,
-6.115858133218396,
-1.802326153767536,
4.404884551182208,
1.9243965958058875,
1.5816373846808938,
-0.07326713340167479
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.33761978149414,
0.3727940022945404,
-1.3035643100738525,
0.8227382898330688,
0.7766935229301453,
1.705085277557373,
2.0359904766082764
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.02180950501213,
0.6885349547832718,
-1.2426182077029906,
0.8052837953889944,
0.7684096635968284,
1.7449823728005702,
-4.402514250733003
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.928946894811077,
7.878715867657052,
-0.5506834563128606,
0.7670992059853237,
0.7470031793990016,
1.800272491214094,
-2.5435490847246878
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.902293749596367,
6.759857926821786,
-0.5975367077759262,
0.7747947070640717,
0.7570646925003609,
1.8529637462837616,
-2.7824148931079207
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.744915386320287,
5.878269000842746,
-0.6908096324212898,
0.8323071860243163,
0.7871023713167902,
1.7984320086753225,
-4.046698877713142
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.45586995274735,
10.68229049925067,
-0.44792138146078386,
0.7616078981789209,
0.7309555840748613,
1.776972137471681,
0.9075782954573648
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.305419740779598,
3.321951037718776,
-1.0035136331247303,
0.8925338337818781,
0.8002303540706635,
1.7129143178462982,
-0.15347142156589144
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.0004232375806534905,
-0.9977830900729389,
-0.06654867417498211,
18.729076867771926
],
[
0.9973177611852647,
0.004449680780103715,
-0.07305808350460952,
148.2248933715717
],
[
0.07319224067045388,
-0.06640109566455049,
0.9951049142679307,
9.957896979933215
],
[
0,
0,
0,
1
]
],
"timestamp": 336
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002052/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": [
645,
365,
775,
475
],
"bbox_3d": [
25.615219739355346,
-1.0104521739608572,
-1.0165166527529088,
5.416935767281882,
2.2002112842583723,
1.9808818320370398,
0.03582448941099603,
0.9958924651145935,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible rear lights and roof\n2. Motion state: moving away from camera\n3. Position to viewer: center, slightly right; 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\n5. Summary: dark-colored car in the center-right of the view, moving away from camera, rear facing observer, with a red car to its right rear 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/001628/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001628/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.244220733642578,
-0.9357553720474243,
-1.3927226066589355,
4.508551597595215,
1.93417489528656,
1.602522611618042,
-6.293002605438232
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.279623805983306,
-5.074417124035705,
-1.6120551722693737,
4.424539788597273,
1.9061392121248442,
1.5603703926771313,
-0.010550814983971923
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.945383662245348,
-5.159158822342334,
-1.3842626206640887,
4.473424382768485,
1.9755988485438642,
1.8251436197398834,
0.06955512471494507
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.87485695920502,
-5.073833693109378,
-1.422223411863392,
4.468688114160372,
1.940751723676771,
1.654320198131148,
0.055350170016691624
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.979826978547848,
-10.279918666153605,
-0.8916268783908006,
0.7535073404462551,
0.751938018042895,
1.9222347772389745,
2.976698494065553
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.06031369789372004,
0.9965864361459281,
0.05637138579406131,
-158.67776381404204
],
[
-0.9961256729320221,
-0.05647264347981068,
-0.06741279006337268,
104.43615760892726
],
[
-0.06399923102749933,
-0.060218899262274986,
0.9961314082988895,
6.768914710460455
],
[
0,
0,
0,
1
]
],
"timestamp": 3152
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001628/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": [
276,
392,
391,
582
],
"bbox_3d": [
12.382839447865791,
3.2189386938394153,
-1.2291244172240905,
0.8290615072174471,
0.7881056495023757,
1.8070297270083224,
-2.05223105546149,
0.5512226223945618,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing light-colored top and dark pants, carrying 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 the green bounding box; 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 light top and dark pants, carrying a backpack, moving left in frame, located at center-left of the view, side profile facing observer, with a pedestrian 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/002592/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002592/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.73247528076172,
-0.7960513234138489,
-1.3050392866134644,
4.456093788146973,
1.9453349113464355,
1.6896253824234009,
6.496729373931885
],
"class_other": "Car"
},
{
"bbox_3d_other": [
44.58221308841017,
0.22466316701672895,
-0.2990538940973413,
9.268735039263236,
2.8563575964812054,
3.298451643512628,
-6.2226015630617795
],
"class_other": "Car"
},
{
"bbox_3d_other": [
43.41781103659498,
-4.135981362339493,
-0.08627319136037448,
9.122593439729723,
2.8962210597252023,
3.522786824540119,
-0.013171085274456651
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.711648941040039,
6.610922336578369,
-1.0889666080474854,
0.8149974346160889,
0.7635213136672974,
1.731611728668213,
1.3372875452041626
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.652096176250268,
-1.6154312092596115,
-1.2778163840206846,
0.8542602873886241,
0.8150184291104046,
1.8349867406519271,
-1.5497512198206393
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.86641198648428,
5.726017813009605,
-1.1357671182089741,
0.7567154643186346,
0.737504033509617,
1.729564646247694,
-4.659647186894972
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.999938910440925,
-0.00860507046894702,
-0.006937445382854766,
-96.37783568490211
],
[
0.009149814737802152,
-0.9965285245117298,
-0.08274769316868384,
181.4149517646168
],
[
-0.006201312480397642,
-0.08280611448860044,
0.9965463818241584,
11.866239423823698
],
[
0,
0,
0,
1
]
],
"timestamp": 1064
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002592/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": [
202,
372,
521,
610
],
"bbox_3d": [
13.369532836965675,
2.8708026036033356,
-1.1483609787499187,
5.180992386374702,
2.1743273165614845,
2.0474260253063674,
-0.034601971402152376,
0.992655873298645,
1
],
"class": "car",
"description": "1. Appearance: van, white, with rear doors open\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly right, near the left edge of the view; side facing observer, rear facing observer\n4. Relationship with surrounding objects: a white van to the left front of the target, a row of parked cars to the right of the target\n5. Summary: white van with rear doors open, parked on the left side of the street, side and rear facing observer, stationary, with a white van to its left front and a row of parked cars 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/000387/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000387/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.95576076158435,
2.84540166466212,
-1.5568934870384932,
4.386519535763305,
1.9355436212524177,
1.6503240649009632,
0.016533391095213457
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.96043752314636,
3.024745132666908,
-1.065545990562255,
4.53411821886642,
1.9894040044634775,
1.8515957073665243,
-0.011129079924409258
],
"class_other": "Car"
},
{
"bbox_3d_other": [
-0.9898887586260017,
3.104961827521123,
-1.3037656252683332,
4.738350554323661,
2.045437105628674,
1.8215933465852454,
-0.015618555548003954
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.963125731251559,
2.9213882985790747,
-1.077690352617783,
5.242611039151428,
2.2120727453379505,
2.218699178300255,
0.002296916655104564
],
"class_other": "Car"
}
],
"pose": [
[
-0.9998200580630975,
-0.018809335768941185,
0.002461784441355656,
-35.3552456882515
],
[
0.01858870450987503,
-0.9973318393429395,
-0.07059505859105032,
179.787397149966
],
[
0.0037830621656302086,
-0.07053659419592433,
0.9975020187046694,
12.183767612683775
],
[
0,
0,
0,
1
]
],
"timestamp": 642
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000387/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": [
619,
349,
832,
474
],
"bbox_3d": [
25.517143344973732,
-1.2855288072520115,
-0.8670879980004251,
5.364986357014669,
2.2069979996606546,
2.231413247175603,
-5.897257961201376,
0.999052107334137,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark-colored, with yellow markings on the side\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 white pickup truck to the right of the target, a pedestrian to the left front of the target\n5. Summary: dark-colored SUV with yellow markings, located in the center-right of the view, rear facing observer, stationary, with a white pickup 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/000531/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000531/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.140419025356152,
-4.92734662948024,
-1.163711155480117,
5.923366155576927,
2.2494973151677473,
1.943078288282437,
-5.104965627086641
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.520252027404624,
6.2410004249934445,
-1.036190260748958,
0.8219738005478189,
0.7639299805391777,
1.6860298575624804,
-6.236217082572241
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999165815426417,
-0.008498073842962486,
-0.009726905830606696,
-96.3772610330861
],
[
0.009273070931820962,
-0.9965379149844199,
-0.08262078524196623,
181.4162447480814
],
[
-0.008991112921732818,
-0.08270409143122995,
0.9965335885703823,
11.866612573627151
],
[
0,
0,
0,
1
]
],
"timestamp": 868
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000531/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": [
1128,
423,
1263,
649
],
"bbox_3d": [
9.593418132461949,
-4.431279097061141,
-1.4665746529534527,
0.8227438245456283,
0.7881247083800001,
1.7391661711097586,
-4.574769803802602,
0.960718035697937,
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: bottom-right, near the right edge of the view; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white bus to the left of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at the bottom-right near the right edge, side profile facing observer, with a pedestrian and a white bus 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/002567/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002567/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.43441909740838,
-2.622079438185807,
-0.5623872023933396,
13.749527943529321,
3.067973110085575,
3.4175853389036983,
-5.619994812536203
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.983784675598145,
3.973371744155884,
-1.173181176185608,
0.8058120012283325,
0.764066755771637,
1.7659357786178589,
4.392622470855713
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.957900047302246,
-3.877609968185425,
-1.4276762008666992,
0.832216739654541,
0.7974555492401123,
1.7602670192718506,
1.357446312904358
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.17060434719056,
7.86370982246595,
-0.9118829721836139,
0.8340531773464653,
0.7759248845038875,
1.7231958553355227,
-3.04322884417437
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999182063944942,
-0.008307922020138213,
-0.009724142765578876,
-96.36540198397725
],
[
0.009083378972851254,
-0.9965392409055616,
-0.08262586496856386,
181.41202424098122
],
[
-0.009004040607061978,
-0.08270743477508591,
0.9965331943722053,
11.865867002805553
],
[
0,
0,
0,
1
]
],
"timestamp": 986
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002567/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": [
1051,
424,
1279,
753
],
"bbox_3d": [
9.069725499355862,
-4.894687930781522,
-1.5772519466803852,
4.930832026223227,
2.0770432848655846,
1.7693865696475402,
0.03484937249533837,
0.9579160213470459,
1
],
"class": "car",
"description": "1. Appearance: pickup truck, brown, with visible side windows 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 person standing to the left front of the target, a ladder and scaffolding to the left of the target\n5. Summary: brown pickup truck, stationary, located at the bottom-right of the view, side and rear facing observer, with a person and scaffolding 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/001951/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/001951/lidar.bin",
"others": [
{
"bbox_3d_other": [
36.62242529196523,
3.161756068619284,
-0.5778323377607217,
7.737002729047313,
2.8081141269342305,
3.1193299073272436,
0.6105481530161089
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.179175059195533,
-6.154204183228717,
-1.7363619617269512,
0.795177125245018,
0.7876246220635635,
1.764243448294042,
0.0021101883909877966
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9982810699337846,
0.058145152221181225,
0.0073516450563059135,
-29.798831058903374
],
[
-0.05818867967621067,
0.998288449766642,
0.005852232057440449,
-0.3329226874677087
],
[
-0.006998783422680677,
-0.006269954999077027,
0.9999558513729054,
0.2367638651834349
],
[
0,
0,
0,
1
]
],
"timestamp": 3659
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/001951/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": [
829,
388,
936,
477
],
"bbox_3d": [
28.19304733717566,
-5.075552056142385,
-1.460051897324278,
4.671658612528477,
2.021304530410038,
1.7561565100018748,
-0.093181478141934,
0.9402332901954651,
1
],
"class": "car",
"description": "1. Appearance: car, white, 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; the car is partially occluded by the green bounding box and appears slightly blurred\n4. Relationship with surrounding objects: a white bus is in front of the target, a pedestrian is to the left front of the target, and a traffic light is to the left of the target\n5. Summary: white car, rear facing observer, stationary, located in the bottom-right of the view, partially occluded, with a white bus in front 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/000825/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000825/lidar.bin",
"others": [
{
"bbox_3d_other": [
32.309871673583984,
-1.3756072521209717,
-0.42853954434394836,
9.360616683959961,
2.8774707317352295,
3.317110300064087,
6.259096622467041
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.114100860902184,
8.377951162435835,
-0.805974634676855,
0.737084729384182,
0.7129558731505942,
1.7150070857553974,
2.7963604647263205
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.045297555140937695,
0.997868431196638,
0.04697579716635043,
-160.89159030848842
],
[
-0.9973284233491208,
-0.04247533149896465,
-0.059429472435905656,
62.46610934253177
],
[
-0.05730748186939216,
-0.049542307528146645,
0.9971265778659075,
4.405785900140892
],
[
0,
0,
0,
1
]
],
"timestamp": 1508
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000825/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": [
69,
371,
189,
415
],
"bbox_3d": [
44.56261441150031,
19.93990869988005,
-0.8795512104709617,
4.471057891845703,
1.9346493482589722,
1.605703592300415,
-4.650456147610587,
0.5672193169593811,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark green, with visible side windows and wheels\n2. Motion state: stationary\n3. Position to viewer: top-left, near the left edge of the view; rear facing observer, with the rear of the vehicle clearly visible; partially occluded by a tree trunk on the right side\n4. Relationship with surrounding objects: a white bus to the right rear of the target, a speed limit sign to the right front of the target\n5. Summary: A dark green SUV, rear facing observer and partially occluded by a tree, is located in the top-left of the view, near a speed limit sign and to the left rear of a white bus."
}
],
"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/000868/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000868/lidar.bin",
"others": [
{
"bbox_3d_other": [
28.911399783804786,
-0.3188003310260399,
-0.5265128440313482,
13.945917060372595,
3.0784079236063255,
3.4804495817414844,
0.13258871208381473
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.600772807806624,
-4.837305477779239,
-1.5593567506950698,
4.612520851832521,
1.9985186135249127,
1.7351126170993754,
-0.0697613832947972
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.643647871719278,
-4.748349477013704,
-1.623521707485314,
4.735737801738231,
1.997861824712057,
1.6542653774022262,
-0.0507767487133175
],
"class_other": "Car"
},
{
"bbox_3d_other": [
29.06953011286208,
-4.756968407359551,
-1.6321405987436428,
4.394095549174858,
1.9340093781402685,
1.651107422009354,
-0.01275741377287587
],
"class_other": "Car"
}
],
"pose": [
[
-0.04981754326344284,
0.9977805317508732,
0.044183965894198,
-161.9409441159503
],
[
-0.997384698005717,
-0.04738092128386734,
-0.0545784983517937,
44.17393493390352
],
[
-0.05236388609757481,
-0.046787378182973786,
0.9975314354322493,
3.454394771737697
],
[
0,
0,
0,
1
]
],
"timestamp": 1539
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000868/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": [
486,
272,
1277,
547
],
"bbox_3d": [
18.313498346385316,
-3.2203189052543193,
-0.6494672107323378,
11.911240128889883,
3.0275110782323176,
3.3897457490156326,
-5.25746664585936,
0.9311728477478027,
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/000577/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000577/lidar.bin",
"others": [
{
"bbox_3d_other": [
10.431537628173828,
-5.185264587402344,
-1.4540601968765259,
0.8370540738105774,
0.8027840256690979,
1.767952799797058,
6.590424537658691
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.127641965527388,
5.3710547090472005,
-1.0548482774300578,
0.7935516687290416,
0.7586747121545043,
1.7749926574316837,
-1.2814077620296456
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9999173591815629,
-0.008369872822678264,
-0.009758075440485585,
-96.36182449430692
],
[
0.009147703491705945,
-0.996540698364764,
-0.08260118657438933,
181.41121592734828
],
[
-0.009032957887527596,
-0.08268362432550619,
0.9965349085406899,
11.866117324646245
],
[
0,
0,
0,
1
]
],
"timestamp": 970
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000577/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": [
957,
423,
1050,
596
],
"bbox_3d": [
12.972059800301082,
-3.6930126649709365,
-1.5828802608893593,
0.8176999140170786,
0.7844499467671536,
1.7394741209361293,
-2.088293912175126,
0.9806994199752808,
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/002948/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002948/lidar.bin",
"others": [
{
"bbox_3d_other": [
42.90781044683436,
-16.31509206202348,
-0.770586064979645,
5.018932902490561,
2.126497379923224,
1.9519726229952528,
1.257584927921854
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.082595825195312,
-2.1451544761657715,
-1.3034294843673706,
0.8119497299194336,
0.779447615146637,
1.73490571975708,
6.112749099731445
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
7.56287145614624,
1.7686504125595093,
-1.3612300157546997,
0.842380940914154,
0.7983765602111816,
1.741634488105774,
-3.6658434867858887
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.030099868774414,
-2.5452725887298584,
-1.344854712486267,
0.7983584403991699,
0.7770899534225464,
1.7668675184249878,
-6.418646335601807
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.838992108999975,
-0.3244397606565528,
-1.1527064628353516,
0.8075681836543517,
0.7728600842053713,
1.7740978411210406,
-0.4382127342140405
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.003779900959444,
-1.6261258655274062,
-1.3010532061419826,
0.7902306073032264,
0.7725116518855142,
1.7716545142034268,
-0.29927181635888234
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.909547465405524,
-3.821831381423614,
-1.63947031736347,
0.7858932461057391,
0.7618305172239032,
1.678519824572972,
-2.059878789368652
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.23434264724566728,
-0.9712699333126554,
-0.04145166250854786,
20.440085508058715
],
[
0.9700195070905099,
-0.23079141334461334,
-0.07614118064674391,
169.09727023957234
],
[
0.06438695167327813,
-0.0580520470717923,
0.9962350527285202,
11.376107895192796
],
[
0,
0,
0,
1
]
],
"timestamp": 2344
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002948/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": [
90,
354,
169,
494
],
"bbox_3d": [
15.177169274082067,
6.7559010233913455,
-0.7603236563104945,
0.8317101434592801,
0.7722854296073223,
1.7483465188169085,
3.117881105683465,
0.9956871867179871,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a light-colored shirt visible at the neck\n2. Motion state: moving left in frame\n3. Position to viewer: left-center, near the left edge of the view; side profile facing observer, back to observer; partially occluded by a tree trunk on the right side\n4. Relationship with surrounding objects: a bicycle to the right front of the target, a white bus to the right rear of the target, a tree to the immediate right of the target\n5. Summary: person wearing dark clothes, walking left in frame, partially hidden by a tree, located on the left side of the view near a bicycle and a white bus"
}
],
"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/002731/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002731/lidar.bin",
"others": [
{
"bbox_3d_other": [
26.12156867980957,
-1.873677372932434,
-0.6606845855712891,
9.852104187011719,
2.9091997146606445,
3.3132524490356445,
6.243550777435303
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.97705078125,
9.390275955200195,
-0.6324988603591919,
4.639275550842285,
1.9880465269088745,
1.7192341089248657,
-3.141106605529785
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.31989473845971,
-5.77754950927249,
-1.6801459753566839,
4.626167631442317,
1.9900998838511739,
1.6662871822267877,
-0.03223079759917313
],
"class_other": "Car"
}
],
"pose": [
[
-0.02584827677835555,
0.9981265064162542,
0.05545578217709309,
-158.25015160341658
],
[
-0.9979389805678601,
-0.02250458421132817,
-0.060094382039052506,
111.91900733157057
],
[
-0.0587337862798737,
-0.05689482295217125,
0.9966510530122724,
7.251485131448008
],
[
0,
0,
0,
1
]
],
"timestamp": 1324
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002731/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": [
1223,
374,
1279,
558
],
"bbox_3d": [
11.796682986723948,
-6.3753984108349675,
-1.1190519783104431,
0.8371735710989524,
0.7996080184749634,
1.8434891240817635,
-0.17712152028052808,
0.9496632218360901,
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/002385/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002385/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.308475494384766,
2.743009567260742,
-1.058024525642395,
4.916890621185303,
2.141009569168091,
2.104158401489258,
-6.241238594055176
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.831209218520495,
3.0045871349363438,
-0.558578721892584,
8.02651633853515,
2.854991020065692,
3.2692656027992366,
-6.249827401295484
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.679019188745333,
2.8496004171528853,
-1.480570720992759,
4.776185513432198,
2.0427241409798973,
1.7278456939441733,
0.0037765261665505534
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.3747302975403066,
3.2003251639154655,
-1.528531873943469,
4.436110181364206,
1.9257249414487698,
1.6039712783664983,
-0.014079996651411797
],
"class_other": "Car"
},
{
"bbox_3d_other": [
-2.3295724692899924,
2.981309699553151,
-1.504797091499168,
4.508351587285346,
1.9613896065553615,
1.654791257025499,
-0.019956382097793934
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.196008682250977,
9.251397132873535,
-1.0164161920547485,
0.8500933647155762,
0.8055635690689087,
1.8506184816360474,
6.512415885925293
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9994281784179463,
-0.03290364670284213,
0.0077888521516659304,
-13.61955921098641
],
[
0.03230967347407413,
-0.9972334484571369,
-0.0669442624747327,
179.01688210808933
],
[
0.009970014251979542,
-0.0666543270308968,
0.9977263149300383,
12.12122979101049
],
[
0,
0,
0,
1
]
],
"timestamp": 616
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002385/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": [
961,
416,
1050,
573
],
"bbox_3d": [
13.829287929390048,
-3.934809711946791,
-1.5092448262260714,
0.8388134351734196,
0.7954626196425613,
1.6878640752854142,
1.5255800847639183,
0.9806426167488098,
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/002840/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002840/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.553586731693045,
-3.230157505808645,
-1.4622079900619536,
0.8433762279031994,
0.7992765412437092,
1.695172164055399,
-4.607146377255113
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.946299268836725,
-9.256607436084451,
-1.6376343168906558,
0.8095348796460392,
0.7938894479419633,
1.7773588028138327,
-2.699413112774381
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.04554044667247498,
-0.9979191468660603,
-0.045644759118496185,
17.66122461683157
],
[
0.9965854229362697,
0.04853487943420637,
-0.06679715764344356,
99.8088889473979
],
[
0.06887352544924255,
-0.04244692917539653,
0.9967219751243428,
6.363666412770429
],
[
0,
0,
0,
1
]
],
"timestamp": 2067
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002840/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": [
195,
369,
262,
493
],
"bbox_3d": [
17.94043457049733,
6.304189027257271,
-0.9582241742277393,
0.8415008079263544,
0.7836254230881962,
1.7950591757286765,
0.007398190038997221,
0.9967474937438965,
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, cannot clearly determine\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white van to the right of the target\n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at left-center of the view, side profile facing observer, with a pedestrian and a white van to the right front and right 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/002507/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002507/lidar.bin",
"others": [
{
"bbox_3d_other": [
21.813011169433594,
-2.8314740657806396,
-0.9802991151809692,
5.671267509460449,
2.2796826362609863,
2.263911008834839,
-5.599008083343506
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.215446487991855,
-9.561315784711155,
-1.198359799989945,
4.7773847579956055,
2.060058116912842,
1.8065303564071655,
-4.873667812556857
],
"class_other": "Car"
},
{
"bbox_3d_other": [
43.75009421321664,
-4.160753563663064,
-0.029941153563364242,
9.976408919722644,
2.939835737651563,
3.5311751684677914,
-0.02151474309474155
],
"class_other": "Car"
}
],
"pose": [
[
-0.9999157962260243,
-0.008587143663573321,
-0.009729410124844096,
-96.38017092127647
],
[
0.009363430307899651,
-0.996524338239233,
-0.08277420775657196,
181.41650830457235
],
[
-0.008984799972474205,
-0.08285833850953195,
0.9965208322503323,
11.866260407188008
],
[
0,
0,
0,
1
]
],
"timestamp": 850
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002507/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": [
20,
444,
228,
799
],
"bbox_3d": [
5.861052186788186,
2.7240548992015103,
-1.3715777423772604,
0.8516330618838795,
0.8033303310636614,
1.7512816303089018,
-0.9605318691725424,
0.9886071085929871,
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: bottom-left, slightly left, near the left edge of the view; 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 bottom-left of the view, side profile facing observer, with a pedestrian and a white car to the right front and right 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/003343/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003343/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.248748779296875,
-3.7064108848571777,
-0.11150971055030823,
10.374726295471191,
2.9695167541503906,
3.5771541595458984,
-6.295247554779053
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.42296090913574,
8.315611405602539,
-0.921388539493317,
0.8401684571224204,
0.7663612788043338,
1.7104966790130607,
-3.2229167015286486
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.07559911201865,
-0.3405959923175885,
-1.2799174698892335,
0.8545698105967943,
0.8084285344869795,
1.794522667340082,
-1.5839816928861996
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.55352354480715,
8.378277100900561,
-1.0086742077766768,
0.7783677913641367,
0.7285468781220722,
1.6306322431709748,
-3.070440176417873
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993020907924747,
-0.03593248628172244,
-0.010207240929993857,
-94.5089624680519
],
[
0.036637548382546695,
-0.996096204140482,
-0.08031215440666514,
181.88087188636294
],
[
-0.007281578558641174,
-0.08063007209805348,
0.9967174976326829,
11.729113991268136
],
[
0,
0,
0,
1
]
],
"timestamp": 2828
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003343/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": [
164,
395,
281,
584
],
"bbox_3d": [
11.443781842856183,
4.088803676455612,
-1.1896010563912771,
0.8543165713066927,
0.7830589204603232,
1.7180079421339078,
-4.796974165169093,
0.975165069103241,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: stationary \n3. Position to viewer: bottom-left, near the left edge of the view; back to observer \n4. Relationship with surrounding objects: a person in a dark top and dark pants standing on the sidewalk to the left of the target, a bicycle to the left of the target \n5. Summary: person wearing dark top and dark pants with a backpack, standing on the sidewalk at the bottom-left of the view, back to observer, near a bicycle and another person"
}
],
"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/003245/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/003245/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.23374938964844,
-3.7323427200317383,
-0.09540446847677231,
10.435135841369629,
2.9837050437927246,
3.595932722091675,
-6.303402900695801
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.289953412575315,
-3.3913673573194956,
-1.4606070217187852,
4.728851052859953,
1.9946034959416377,
1.6336864448110962,
-5.570199611219928
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.619674001369916,
2.5300474294379853,
-1.2106442063875693,
0.8100900598002421,
0.7875690558515571,
1.8275637741837198,
-4.667715995052675
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
12.940970839151149,
1.031532557182345,
-1.1914328549313205,
0.9991670208154484,
0.8402643480929062,
1.825933318015905,
-6.141596831653475
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9993042661752415,
-0.03588413472992801,
-0.010164274624697904,
-94.5088252716496
],
[
0.036585400901122576,
-0.9961035152532077,
-0.08024522005145607,
181.8822076395432
],
[
-0.007245139395901391,
-0.08056125479960477,
0.9967233277997695,
11.72965355374172
],
[
0,
0,
0,
1
]
],
"timestamp": 2680
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/003245/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,
418,
153,
799
],
"bbox_3d": [
4.946931793623577,
2.8095279909045754,
-1.253992530582531,
0.7674345364336108,
0.761738771542174,
1.8582952364546355,
1.0994763776523437,
0.8283430933952332,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, carrying a bag on the right shoulder\n2. Motion state: stationary\n3. Position to viewer: left-center, partially occluded by the left edge of the view; 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 standing on the left side of the street, wearing dark clothes and carrying a bag, with a white bus 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/002689/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002689/lidar.bin",
"others": [
{
"bbox_3d_other": [
35.41597488746437,
-6.8218441965800025,
-0.6732401628766009,
9.549501243184825,
2.9364603992368354,
3.4640009647510093,
6.2000609853169815
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.350918650755773,
7.072106494984496,
-1.1138089598152758,
0.7963686138391495,
0.7557008923565756,
1.7074956478642636,
3.3232704134039612
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9987015399085558,
0.05070145643407095,
0.004959485834560445,
-105.19914520086915
],
[
-0.05093917562214463,
-0.9951341893784543,
-0.08433946595172886,
181.05312713486208
],
[
0.0006592201570848437,
-0.08448258664097905,
0.9964247377415085,
11.783115208983833
],
[
0,
0,
0,
1
]
],
"timestamp": 1104
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002689/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": [
190,
368,
251,
476
],
"bbox_3d": [
19.709298643667008,
7.066032503055137,
-0.9130095735232153,
0.8293567459042203,
0.7690262419546727,
1.7184889256363367,
-3.1355390103392713,
0.9916473031044006,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: stationary \n3. Position to viewer: left-center, near the left edge of the view; back to observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a black SUV to the right front of the target \n5. Summary: person wearing dark clothes and a backpack, standing on the left-center of the view with their back to the observer, near a pedestrian crossing, with a black SUV to their right front and another pedestrian to their 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/002915/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002915/lidar.bin",
"others": [
{
"bbox_3d_other": [
10.980249404907227,
-4.702656269073486,
-1.6492987871170044,
4.4679131507873535,
1.915263056755066,
1.5400100946426392,
-6.252546787261963
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.78063201904297,
-1.647714614868164,
-1.5004818439483643,
4.417409420013428,
1.9134390354156494,
1.574591040611267,
0.07000613212585449
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.07371266061844,
2.9966702067174227,
-1.059710207051546,
4.72127556528712,
2.0109133216867447,
1.760362299125561,
0.5573061819421108
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.286040742657832,
-4.878048299594338,
-1.5150933113035523,
4.617364614576472,
2.003579154363726,
1.721558530959487,
0.04044139088454313
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.583600044250488,
6.498661994934082,
-0.9448734521865845,
0.7550696730613708,
0.7309118509292603,
1.7070159912109375,
-9.666523933410645
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.099290623274015,
-6.406907196171019,
-1.5197612888798273,
0.823393096718038,
0.7982098995624073,
1.7548588189173284,
-3.8976775126365215
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.995028281536833,
-7.577941897768783,
-1.5443152162621077,
0.840567018950581,
0.8059012881886307,
1.757768056287974,
-0.1545374397483441
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.0721194573438696,
-0.9962190439323946,
-0.04843965708849979,
20.65324475077751
],
[
0.9952461422680594,
0.07506611126159679,
-0.06204994150365796,
154.84416926782143
],
[
0.06545151008931406,
-0.043734373740654406,
0.996896887536791,
10.26302475350006
],
[
0,
0,
0,
1
]
],
"timestamp": 2291
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002915/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": [
898,
401,
1101,
540
],
"bbox_3d": [
18.184829246701682,
-4.936324981261237,
-1.4922663152892859,
4.7091344887925795,
1.988854454854882,
1.657464168742755,
-0.03356939624598265,
0.9959456920623779,
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 the rear of the car visible; the car is partially occluded by the green bounding box and the image is slightly blurred\n4. Relationship with surrounding objects: a white bus to the left front of the target, a black car to the left rear of the target\n5. Summary: light green taxi car with a yellow roof sign, stationary at the bottom-right of the view, rear facing observer, partially occluded, located near a white bus and 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/000829/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000829/lidar.bin",
"others": [
{
"bbox_3d_other": [
29.581798553466797,
-1.345913052558899,
-0.5358489155769348,
9.34508228302002,
2.894024133682251,
3.3622896671295166,
-6.283718585968018
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.163294258372375,
-5.102529892315999,
-1.4857014117445444,
4.542575565541815,
1.9740961871216554,
1.6686025350907128,
-0.10737057025949137
],
"class_other": "Car"
}
],
"pose": [
[
-0.04364607694435263,
0.9987695900371423,
0.023544128448645563,
-161.4580812417849
],
[
-0.998088103565058,
-0.042559755543217226,
-0.044819691319863034,
52.70923734474183
],
[
-0.043762512373878404,
-0.02545531820936966,
0.9987176123837938,
3.860648239183845
],
[
0,
0,
0,
1
]
],
"timestamp": 1524
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/000829/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": [
726,
309,
825,
423
],
"bbox_3d": [
44.634911080789465,
-4.155323418812053,
-0.006455119815170107,
9.779433268716915,
2.96072229310875,
3.590889691867806,
-0.04268045377936902,
0.8851737380027771,
1
],
"class": "car",
"description": "1. Appearance: truck, white, with a large rectangular cargo box\n2. Motion state: moving away from camera\n3. Position to viewer: center-right, slightly right of the center of the view, partially occluded by the bright light; rear facing observer\n4. Relationship with surrounding objects: a white car to the left front of the target, a pedestrian to the right front of the target\n5. Summary: white truck with a large rectangular cargo box, rear facing observer, located in the center-right of the view, moving away from camera, with a white car 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/000455/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/000455/lidar.bin",
"others": [
{
"bbox_3d_other": [
26.51309331812317,
-0.29249659167066966,
-1.124165010223861,
4.574304750025298,
1.9728279525301162,
1.7178914049507645,
0.0071673280263722106
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.24656867980957,
-4.38485860824585,
-1.3296422958374023,
0.8816894888877869,
0.8309707641601562,
1.8088284730911255,
7.078129291534424
],
"class_other": "Pedestrian"
},
{
"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/000455/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": [
862,
396,
910,
506
],
"bbox_3d": [
21.014714412784315,
-3.886205800937031,
-1.4785247417578127,
0.8238458058431161,
0.8007549523124213,
1.7888663716352105,
-0.16714831128715235,
0.6652777194976807,
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: right-center, near the right edge of the view; side profile facing 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 a backpack, moving left in frame, located at the right-center of the view, side profile facing observer, near a white postal truck 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/002980/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_rittenhouse/002980/lidar.bin",
"others": [
{
"bbox_3d_other": [
10.859054565429688,
-5.869203567504883,
-1.6585030555725098,
0.8034655451774597,
0.7950962781906128,
1.7920904159545898,
-8.036941528320312
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.0710516213191,
-2.307071872886894,
-1.4419906160896234,
0.7999491250090497,
0.7825409766740178,
1.7396002231468266,
-3.4638981482362543
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.37966397532952,
-3.1595539966114785,
-1.3974845586195297,
0.8321969154292228,
0.8097083770603771,
1.818198273791103,
-0.17066774286289044
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.821897428457333,
-6.5345229356713475,
-1.734036496760087,
0.8111400148377875,
0.79479798155805,
1.7569293539545188,
-1.8002431278919797
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.29731454983164,
-2.422783073722087,
-1.4001501005269743,
0.8335150150365396,
0.7992151557687852,
1.7618979526476748,
-0.24586182923070088
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.2782417463876714,
-0.9597881311480025,
-0.037259547428323346,
20.220678661338727
],
[
0.9580400828072757,
-0.2745363527822935,
-0.08239533200142247,
169.82913557238945
],
[
0.0688529614596737,
-0.058621960973860285,
0.9959029748875199,
11.421453614549279
],
[
0,
0,
0,
1
]
],
"timestamp": 2373
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_rittenhouse/002980/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.