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": [
235,
389,
321,
567
],
"bbox_3d": [
12.229881263491983,
3.7537170535869393,
-1.151046552802593,
0.8006925994323976,
0.7633776217202575,
1.7188428064479053,
0.1889940374212753,
0.9763418436050415,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and light-colored 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 tree trunk; back to observer \n4. Relationship with surrounding objects: a FedEx box to the right of the target, a \"LEFT LANE MUST TURN LEFT\" sign to the left of the target, a pedestrian to the right front of the target \n5. Summary: person wearing dark top and light pants with a backpack, standing on the sidewalk at the left-center of the view, back to observer, partially occluded by a tree, near a FedEx box and a traffic sign"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006008/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006008/lidar.bin",
"others": [
{
"bbox_3d_other": [
16.53277587890625,
-0.4489293098449707,
-1.4104396104812622,
4.665412902832031,
2.0115694999694824,
1.7526278495788574,
6.262268543243408
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.909557941647286,
-4.087264640328158,
-1.609316162680119,
4.6259189453281335,
1.9906300101123873,
1.6557815451113904,
-0.020747968535812955
],
"class_other": "Car"
},
{
"bbox_3d_other": [
38.753391306980355,
7.833309064360606,
-1.1414407485944773,
4.855025251706441,
2.063123961289724,
1.7800229986508687,
1.2461122437652612
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.712046640865172,
9.349834041816933,
-0.753813348006946,
4.723120724931429,
2.0450308038772302,
1.817173461286886,
1.7192077315909642
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.534740587547045,
4.3007617924191095,
-1.130905053180327,
0.7986419499944893,
0.755755370795275,
1.6856028576696245,
3.217557215184824
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.109745577967061,
2.318013059476698,
-1.2196022060788971,
0.8480080962181091,
0.811797559261322,
1.7751492261886597,
5.579737023612633
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.005050788513256188,
0.9992687991167775,
0.037899296129449374,
-238.40569451154283
],
[
-0.9999226787174231,
-0.004616159253091279,
-0.011546759732617087,
40.52147999265891
],
[
-0.011363367545188637,
-0.03795468594868672,
0.9992148496157216,
2.092232974893522
],
[
0,
0,
0,
1
]
],
"timestamp": 2044
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006008/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": [
305,
396,
628,
636
],
"bbox_3d": [
12.445749376474819,
2.1330892560651193,
-1.3143799878500606,
4.779499305284299,
2.0443303495239524,
1.8167992874474328,
0.4100533236057313,
0.9985949397087097,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark gray, rear view visible, with visible taillights and rear bumper\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by the foreground pole on the left; rear facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the left, a white bus to the right\n5. Summary: dark gray SUV, rear facing observer, stationary at the center-left of the view, partially occluded by a pole, with a pedestrian to its left front and a white car and white bus nearby"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001407/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001407/lidar.bin",
"others": [
{
"bbox_3d_other": [
19.40950763368299,
11.091540849977463,
-1.1825393458445057,
4.638422355598248,
1.9920470280058493,
1.7079524628184675,
1.1834603854121513
],
"class_other": "Car"
},
{
"bbox_3d_other": [
50.91249427571991,
10.279930356011704,
-1.1112566291609172,
4.525269341337223,
1.9533863241089457,
1.6331496496981428,
-1.3104609759262429
],
"class_other": "Car"
},
{
"bbox_3d_other": [
52.90420061133601,
12.585377022386666,
-0.7294948056386525,
5.008103289858323,
2.109163252015301,
1.8632657202183633,
2.2262094579617506
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.888547897338867,
2.736354351043701,
-1.2153059244155884,
0.7715149521827698,
0.7627252340316772,
1.847609043121338,
4.75773286819458
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.324553531120566,
4.082140428030755,
-1.317511683474228,
0.7899750799517146,
0.7727190615902461,
1.7534660943325964,
0.5999291060240295
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.020235496364919836,
0.9996522077236097,
0.016911188017950878,
-239.08033489795568
],
[
-0.9997823674923868,
-0.020146503602459953,
-0.005416275834388311,
20.192885280457674
],
[
-0.005073690785160787,
-0.01701710862365398,
0.9998423254073151,
1.8160687965909836
],
[
0,
0,
0,
1
]
],
"timestamp": 2092
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001407/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": [
286,
410,
491,
548
],
"bbox_3d": [
18.005175316347476,
3.680224175104869,
-1.542070492957151,
4.362536416901694,
1.909786103427146,
1.6039982489356848,
6.228394493209613,
0.9953877925872803,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible front headlights and side profile \n2. Motion state: stationary \n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a white truck to its right; rear facing observer \n4. Relationship with surrounding objects: a white truck to the right front of the target, a black SUV to the right rear of the target \n5. Summary: dark-colored car, stationary, located at the left-center of the view, partially occluded by a white truck to its right, rear facing observer, with a black SUV to its right rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003539/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003539/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.14620018005371,
2.8748650550842285,
-0.9410712718963623,
6.152792930603027,
2.485060691833496,
2.5836660861968994,
6.229394435882568
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.110638618469238,
3.838411808013916,
-1.0557202100753784,
5.684800624847412,
2.298881769180298,
2.259878158569336,
-0.06857705116271973
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.97844409942627,
-0.056031666696071625,
-1.2892807722091675,
4.740814208984375,
2.0467584133148193,
1.8402224779129028,
-6.298730850219727
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.069350242614746,
-3.8389761447906494,
-1.4392597675323486,
4.38496208190918,
1.926073431968689,
1.6935847997665405,
-0.05855286121368408
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.049919465476535,
-4.099086185639862,
-1.3081751620957984,
4.767620221347818,
2.04259581871022,
1.8048509288789878,
6.2234035608728595
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.923978681688453,
-6.658943554678046,
-1.4222353652652533,
4.464939800040398,
1.9615238728530424,
1.7302597374477025,
6.212701498862062
],
"class_other": "Car"
}
],
"pose": [
[
-0.9992922664628691,
0.027164885365239887,
0.026019899895957307,
-199.09422559053627
],
[
-0.028550952392421627,
-0.9981071931422391,
-0.054469019774607594,
177.30019695318754
],
[
0.02449100457286179,
-0.055173363145763515,
0.9981763825568092,
4.495516480887296
],
[
0,
0,
0,
1
]
],
"timestamp": 4140
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003539/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": [
683,
375,
844,
433
],
"bbox_3d": [
42.52572406194798,
-3.7359439464302397,
-1.2373973563989757,
5.021094549248491,
2.109375777850766,
1.8378973442160433,
1.8670285350040294,
0.8987718820571899,
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_ucity_small_loop/001468/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001468/lidar.bin",
"others": [
{
"bbox_3d_other": [
17.588714599609375,
-7.177522659301758,
-1.350080966949463,
0.7786099314689636,
0.7676592469215393,
1.7710498571395874,
-2.0107131004333496
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.825277328491211,
-3.6802401542663574,
-1.2731600999832153,
0.7856931090354919,
0.7736638188362122,
1.7714869976043701,
3.5844123363494873
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.119487762451172,
-3.3940329551696777,
-1.3011209964752197,
0.8119131326675415,
0.7923812866210938,
1.7746878862380981,
-5.639662742614746
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.467296600341797,
-2.2748970985412598,
-1.306139588356018,
0.8467788696289062,
0.8075807690620422,
1.783979892730713,
6.3745622634887695
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.794607123594034,
-5.775121504201593,
-1.30604911781736,
0.8258612021286086,
0.7981474719727604,
1.7975501800768232,
4.258556953750057
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.56165338429777,
-4.171238223132292,
-1.262509103507432,
0.796502193569236,
0.7832642669767375,
1.8072636181783215,
-1.8786964257910435
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.349759995363996,
-5.380258251616311,
-1.3004888699720079,
0.8018864280307522,
0.7836382893544946,
1.7920323321530423,
0.5150478592426876
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.3592233010360777,
0.9332466582994094,
0.0030487318230333865,
-238.04807779385607
],
[
-0.9332398775739865,
0.3592004573025389,
0.006193737105931329,
8.451025589090863
],
[
0.004685178591469073,
-0.00507013280222589,
0.9999761711435597,
1.7217638329212963
],
[
0,
0,
0,
1
]
],
"timestamp": 2121
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001468/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": [
725,
370,
872,
431
],
"bbox_3d": [
36.511599288426105,
-4.145385200298105,
-0.9758741990915232,
4.713361814448895,
2.004691101976791,
1.6340983558074342,
0.4726637244527695,
0.8015780448913574,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, with visible headlights\n2. Motion state: moving left in frame\n3. Position to viewer: center-right, slightly above the center of the view, partially occluded by the foreground car; rear facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white van to the right of the target\n5. Summary: A dark-colored car with headlights on, moving left in frame, located in the center-right of the view, partially occluded by a foreground vehicle, with a pedestrian to its left front and a white van 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_ucity_small_loop/001851/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001851/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.967815399169922,
-8.569722175598145,
-0.47765299677848816,
6.469505786895752,
2.527341604232788,
2.7683053016662598,
1.4961881637573242
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.876659348250403,
8.292501434935389,
-0.20548684649004723,
8.284695372310614,
2.80771086496384,
3.0787916651026292,
-1.560270926555924
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.059800633870119,
-3.666783784083276,
-1.3555442149195742,
4.607870832683242,
1.9866065234603028,
1.6544147855453746,
-0.34734694481019573
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.029604515482252,
-0.470351586480533,
-1.276712953308146,
4.772371576258255,
2.0498208785993337,
1.8330689981055848,
-0.005165284886698943
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.11679076742318,
-3.268032558075776,
-1.0577486654918764,
0.9075220948948715,
0.8482268168381508,
1.901098485126853,
1.4934656384168081
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.769899394652988,
-10.83511769927696,
-1.340302945514047,
0.8070890406767527,
0.7531399726867676,
1.7479353149731953,
2.652930486871102
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998828043876421,
0.014885006326838533,
0.0035796754816821595,
-4.127406552197226
],
[
-0.014878900172868347,
0.999887812626809,
-0.0017264095751254327,
-0.37132868260826474
],
[
-0.0036049715047414502,
0.0016729456133548822,
0.9999921026855285,
1.5423921408766526
],
[
0,
0,
0,
1
]
],
"timestamp": 2659
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001851/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": [
254,
356,
443,
425
],
"bbox_3d": [
33.566424682127206,
8.234396206482831,
-0.6088069022114442,
4.898976567837981,
2.0753307230877795,
1.800308414622901,
-1.563908919322449,
0.9540262818336487,
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_ucity_small_loop/005027/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005027/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.673904523822694,
-0.7584967108278509,
-1.3136984641997176,
4.842520512616092,
2.0749070364714077,
1.875907295863266,
0.003705043814719219
],
"class_other": "Car"
},
{
"bbox_3d_other": [
36.23908701442731,
-6.0643634379930065,
-1.3652817065197766,
4.656261261852929,
1.986218272737136,
1.6424541878730674,
1.4936488787402729
],
"class_other": "Car"
},
{
"bbox_3d_other": [
29.857306446034336,
-3.1374371854934298,
-1.0472350297946695,
4.9714624178214155,
2.07638602569455,
1.7516703253886738,
-1.5842600621080571
],
"class_other": "Car"
},
{
"bbox_3d_other": [
34.95969076738118,
-17.535576469491495,
-0.9899932490087571,
5.21551137651716,
2.214534991128104,
2.207451970236642,
1.4627157167451623
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.265978691532936,
-0.6916371119676401,
-1.3330187938386346,
4.896390067036969,
2.059671851277844,
1.7715406997516971,
0.002233238792207393
],
"class_other": "Car"
},
{
"bbox_3d_other": [
46.45401354671533,
19.23199933126601,
-0.10385383022817951,
4.965567110476097,
2.094577127669898,
1.8418334480201564,
1.5650783040294065
],
"class_other": "Car"
}
],
"pose": [
[
0.9999954768364968,
0.0027829702963754646,
0.0011407816955820767,
-12.817040562558637
],
[
-0.002799042097459349,
0.9998932932153687,
0.014337626939684012,
-0.5468452383421408
],
[
-0.0011007587765417214,
-0.01434075518424306,
0.9998965601855332,
2.444987938477732
],
[
0,
0,
0,
1
]
],
"timestamp": 6236
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005027/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": [
1155,
424,
1213,
550
],
"bbox_3d": [
17.350950623647662,
-7.88158143139151,
-1.8791158223152655,
0.8897355930765475,
0.8459618898905761,
1.7884051844637445,
-3.586118258125277,
0.9097179174423218,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing orange 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; back to observer \n4. Relationship with surrounding objects: a white car to the left front of the target, a black SUV to the left of the target \n5. Summary: person wearing orange top and light-colored pants, with a backpack, moving right in frame, located at bottom-right near the right edge of the view, with a white car and a black SUV 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_ucity_small_loop/005770/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005770/lidar.bin",
"others": [
{
"bbox_3d_other": [
19.31973384205378,
-2.726196590954075,
-1.8799768298311665,
4.625370685185691,
2.023758678408555,
1.7298389438641368,
-0.03029450539249723
],
"class_other": "Car"
},
{
"bbox_3d_other": [
38.48232433052999,
-3.3516446450688306,
-2.082997329119628,
4.397058323899832,
1.9405222612610638,
1.6643887310520584,
0.25256780124027944
],
"class_other": "Car"
},
{
"bbox_3d_other": [
42.266481042595245,
-0.45278899001021955,
-2.0721642026889437,
4.753829471842141,
2.0155329724306377,
1.6996721222535291,
-5.645780545697487
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.274212463487572,
-6.124863962825373,
-2.1924567415001306,
4.45566854899541,
1.9271938282645615,
1.5991941466709036,
0.01240498026085568
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.76955683767386,
4.584714796309939,
-2.1405680920259282,
4.424468326299292,
1.9331395516919172,
1.6524319723625709,
0.0865553758882327
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.692670491939538,
-5.900674745182698,
-2.2953300367459217,
4.518616019061409,
1.956285244630583,
1.640372106998077,
0.21217920069260066
],
"class_other": "Car"
}
],
"pose": [
[
-0.8295930288221373,
-0.5583441231417589,
0.005219835512097811,
-102.66690929108587
],
[
0.5569906083665453,
-0.8281659863522476,
-0.06247048295535098,
158.1472590574833
],
[
0.039202917253420594,
-0.048917677809454656,
0.9980331618120472,
2.088396616378531
],
[
0,
0,
0,
1
]
],
"timestamp": 1148
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005770/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,
389,
1279,
478
],
"bbox_3d": [
23.6053074605958,
-10.351361442575675,
-1.3876432382633141,
4.687938557296503,
1.977392675935245,
1.6069150865077972,
1.5015429207240805,
0.9947745203971863,
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_ucity_small_loop/000040/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000040/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.13105583190918,
-3.2418322563171387,
-1.477145791053772,
4.637984275817871,
1.9717260599136353,
1.6244386434555054,
6.242458343505859
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.500207359662397,
1.5535528436930968,
-0.8119301918116353,
5.086762062822706,
2.1022661308061017,
1.8679796216804125,
1.5031157962253268
],
"class_other": "Car"
}
],
"pose": [
[
0.9999997948467143,
0.0005894555445619684,
0.00025069641052742836,
0.00991538982034112
],
[
-0.000589376346496126,
0.9999997764311614,
-0.00031586888012572416,
-0.012325893762654392
],
[
-0.0002508825451422677,
0.0003157210607896692,
0.9999999186890769,
0.011299975828919857
],
[
0,
0,
0,
1
]
],
"timestamp": 31
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000040/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
657,
362,
775,
422
],
"bbox_3d": [
37.4268082591856,
-1.9498317337408588,
-0.7333854298578424,
4.495466709136963,
1.9597455263137817,
1.6449989080429077,
5.850470186284532,
0.43896663188934326,
1
],
"class": "car",
"description": "1. Appearance: car, white, with visible rear lights and license plate\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the right edge of the view; rear facing observer\n4. Relationship with surrounding objects: a white SUV to the right of the target, a large truck behind the target\n5. Summary: white car, rear facing observer, stationary, located in the center-right of the view, with a white SUV to its right and a large truck behind it"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005253/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005253/lidar.bin",
"others": [
{
"bbox_3d_other": [
30.201778411865234,
-5.833398342132568,
0.10619863122701645,
10.5657377243042,
3.051337480545044,
3.715829372406006,
4.746058464050293
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.67883586883545,
-3.8568453788757324,
-1.2731671333312988,
4.6139044761657715,
2.0260727405548096,
1.88360595703125,
6.271120071411133
],
"class_other": "Car"
},
{
"bbox_3d_other": [
35.53783481797144,
-12.959828288217341,
-1.401314914720651,
4.492246461225278,
1.9570058228447471,
1.6274546930874276,
-1.6247621620152335
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.63938484078681,
-0.74786312069019,
-1.2893994731636973,
4.768003537687735,
2.055540806356706,
1.8590239009738005,
0.008640351921196311
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.270592108864413,
-0.6794844798371784,
-1.3257264068724395,
4.8505075512817974,
2.0433083608759417,
1.751922507783007,
-0.0030324744587211456
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.640853458407344,
2.7694694144570366,
-0.9853785922465719,
0.8749965104173094,
0.8239545109344448,
1.8897859232378278,
0.03850422163694305
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999954578762786,
0.0027199114264725723,
0.0012985794715346406,
-12.814797434849151
],
[
-0.0027381135823222043,
0.9998950386491408,
0.01422724213765984,
-0.5468877096095806
],
[
-0.0012597463324216973,
-0.014230733173854572,
0.9998979444285864,
2.446177877242016
],
[
0,
0,
0,
1
]
],
"timestamp": 6391
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005253/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,
395,
55,
569
],
"bbox_3d": [
12.404301896480675,
7.189819228214475,
-1.2851252727583915,
0.8154435970455551,
0.7903607692245233,
1.8474251090146179,
-0.34673548523114195,
0.8303506374359131,
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_ucity_small_loop/006889/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006889/lidar.bin",
"others": [
{
"bbox_3d_other": [
23.19134521484375,
-4.597338676452637,
-1.4774422645568848,
4.396925926208496,
1.9284696578979492,
1.614808440208435,
-0.053822994232177734
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.017722129821777,
-7.252552032470703,
-1.0914881229400635,
4.988767147064209,
2.162071943283081,
2.115790367126465,
6.185669898986816
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.931106567382812,
-7.424961090087891,
-1.5756516456604004,
4.446750164031982,
1.9494277238845825,
1.6085171699523926,
0.00925910472869873
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.170496277177648,
-7.979873288671769,
-1.2682881151705665,
4.526098123349744,
1.9771875315777383,
1.7328372152477056,
-0.046392427389740254
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.50246447370909,
-7.7702920999624325,
-1.5650666989834352,
4.3676655326226745,
1.9209008135440249,
1.6091089137113963,
-0.02229518902377592
],
"class_other": "Car"
}
],
"pose": [
[
0.026048463619320672,
0.9996588257455914,
0.001926045694734153,
-241.88457569894814
],
[
-0.9996133892824965,
0.026065923897692134,
-0.009676754544771952,
80.04161823004495
],
[
-0.009723657245757461,
-0.0016732364761135798,
0.9999513242000643,
3.119816549240024
],
[
0,
0,
0,
1
]
],
"timestamp": 4768
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006889/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,
356,
354,
799
],
"bbox_3d": [
8.165059761967939,
3.9720358211906905,
-1.1211670694624147,
5.596262243385586,
2.279802273477965,
2.1777662272155487,
6.227288855288531,
0.9945823550224304,
1
],
"class": "car",
"description": "1. Appearance: pickup truck, white, with a black canopy on the bed, has a circular logo on the side door\n2. Motion state: stationary\n3. Position to viewer: bottom-left, slightly left, near the left edge of the view; side facing observer, rear facing observer\n4. Relationship with surrounding objects: a dark sedan to the right rear of the target, a utility truck with a crane to the right front of the target\n5. Summary: white pickup truck with a black canopy, parked in the bottom-left of the view, side facing observer, rear facing observer, with a dark sedan to its right rear and a utility truck 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_ucity_small_loop/004305/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004305/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.89885139465332,
3.032485008239746,
-1.185091495513916,
5.778891086578369,
2.379606246948242,
2.519394636154175,
-0.04198956489562988
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.806214947894347,
-0.36300057415769516,
-1.411681737136254,
4.7855898504963825,
2.066427077905512,
1.8533125711966503,
6.22975670567819
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.948835839639003,
3.8939747183436566,
-1.6444437132378233,
4.433743212723204,
1.9359987209325407,
1.6385167519346437,
6.246325320438862
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.61706084314676,
-9.957300789102675,
-1.4135197226448675,
0.7303605542409046,
0.7354267722716273,
1.8355492203528039,
5.051756791094979
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.999241768401598,
0.018694131477622812,
0.03415285829831252,
-203.09018293342731
],
[
-0.020429783693619502,
-0.9984794961750745,
-0.05119882475410425,
177.2721053438095
],
[
0.03314381118518481,
-0.051857739694928,
0.9981043345331457,
4.590932999156915
],
[
0,
0,
0,
1
]
],
"timestamp": 4544
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004305/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": [
1246,
403,
1279,
799
],
"bbox_3d": [
7.445642907882522,
-6.096849599813741,
-1.3646089626346494,
4.692129741023413,
2.037737258823896,
1.8105562134328952,
-0.010905651042435682,
0.49390238523483276,
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_ucity_small_loop/002617/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002617/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.369342803955078,
3.9546589851379395,
-0.9293695092201233,
5.072298049926758,
2.12937593460083,
1.9327372312545776,
6.246679306030273
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.01319694519043,
-0.7147941589355469,
-1.2424139976501465,
4.5570068359375,
1.9723488092422485,
1.7044322490692139,
-6.3120269775390625
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.926233291625977,
-6.20114803314209,
-1.4333553314208984,
4.439711570739746,
1.9435811042785645,
1.6908419132232666,
6.288316249847412
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.036038398742676,
4.164676189422607,
-1.219135046005249,
4.4675374031066895,
1.958001732826233,
1.7675278186798096,
-6.338598251342773
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.091876983642578,
4.100856304168701,
-0.7563529014587402,
5.196513652801514,
2.1927099227905273,
2.340538740158081,
6.221615314483643
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.035377502441406,
-6.6373772621154785,
-1.3918648958206177,
4.4065093994140625,
1.9293392896652222,
1.628139853477478,
-6.2555036544799805
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.734602928161621,
4.275474548339844,
-1.3411978483200073,
4.2859063148498535,
1.8952025175094604,
1.6630131006240845,
-6.313271522521973
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.33063316345215,
-6.376448631286621,
-1.4586902856826782,
4.518094062805176,
1.9380160570144653,
1.6047165393829346,
6.25661563873291
],
"class_other": "Car"
},
{
"bbox_3d_other": [
-0.07246274295866328,
4.389184550464279,
-1.3511017834250578,
4.382609638900431,
1.9280986203426358,
1.6994541791960638,
-0.010324149168547514
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.808523012145642,
4.060252719131256,
-1.3676624451542814,
4.376991627647561,
1.9276071348021957,
1.6817907906959522,
0.0035143842568077233
],
"class_other": "Car"
}
],
"pose": [
[
-0.8310324462339719,
-0.5546312589994399,
-0.042062332877250364,
-20.229356602787686
],
[
0.555991696850055,
-0.8304919376916536,
-0.034005506362333175,
101.49034098466085
],
[
-0.016071911528404696,
-0.05164598696760892,
0.9985361213746674,
3.0886053565307705
],
[
0,
0,
0,
1
]
],
"timestamp": 3687
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002617/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": [
830,
391,
941,
469
],
"bbox_3d": [
29.52626946649181,
-5.387559298914258,
-1.4868126226448928,
4.412239930660294,
1.9322809471730171,
1.6273226278583164,
-0.013215343529461077,
0.9318854212760925,
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-right, slightly right of the center of the view, near the right edge of the road; rear facing observer\n4. Relationship with surrounding objects: a white van to the left front of the target, a dark car to the left rear of the target\n5. Summary: dark-colored car, rear facing observer, stationary in the center-right of the road, with a white van to its left front and a dark 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_ucity_small_loop/000436/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000436/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.276918411254883,
-1.7294485569000244,
-1.463460922241211,
4.566874027252197,
1.9837017059326172,
1.6853896379470825,
6.344960689544678
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.509536743164062,
-5.298751354217529,
-1.2539503574371338,
5.29962158203125,
2.207885503768921,
2.101249933242798,
-6.260638236999512
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.116849907220072,
2.7678570997082517,
-1.105222119746212,
5.496630201285891,
2.260956603099784,
2.1801634694844405,
-0.017445308504592028
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.32794744112931,
-5.167683648040892,
-1.5586407170299408,
4.468142176883117,
1.960484092648556,
1.673283237469632,
0.019691760972869954
],
"class_other": "Car"
},
{
"bbox_3d_other": [
30.390104197840074,
5.121155759457878,
-0.8011385686189594,
5.002507550067516,
2.143629735066776,
2.1971460467087875,
-0.04428337794823278
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.189479650903436,
5.166178164932944,
-1.3005507014135795,
4.354649209585346,
1.9227229332337614,
1.711489511317894,
-0.02718595276139224
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.022633066823914,
5.237874456400149,
-1.442725458991466,
4.397322164230663,
1.92698452600204,
1.6448240772256744,
-0.01336411011987515
],
"class_other": "Car"
}
],
"pose": [
[
-0.8296467745690569,
-0.5572169058483858,
-0.03457671592143193,
-12.254747789973006
],
[
0.5582599386851848,
-0.8286397155868032,
-0.04125606151143842,
97.43705641931199
],
[
-0.005663065104166649,
-0.053530753674621144,
0.9985501430096803,
2.124019631908899
],
[
0,
0,
0,
1
]
],
"timestamp": 1029
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000436/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": [
432,
359,
572,
435
],
"bbox_3d": [
31.995335123494968,
3.949479565609394,
-0.7118404213008436,
5.00142677674989,
2.0716334479736562,
1.7595359171600622,
0.4445747202128394,
0.9908451437950134,
1
],
"class": "car",
"description": "1. Appearance: car, white, with visible roof and side windows\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the center of the view; side facing observer, rear facing observer\n4. Relationship with surrounding objects: a black car to the left front of the target, a white car to the right of the target\n5. Summary: white car, side facing observer, rear 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"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003171/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003171/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.156932830810547,
-0.7381142377853394,
-1.2808246612548828,
4.46652889251709,
1.9177497625350952,
1.5681232213974,
6.718239784240723
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.999178886413574,
5.473450660705566,
-1.276564598083496,
4.297258377075195,
1.8902512788772583,
1.5982954502105713,
-5.902711868286133
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.545991897583008,
-5.170917987823486,
-1.3299685716629028,
4.2670392990112305,
1.8855197429656982,
1.6637645959854126,
6.723712921142578
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.12729263305664,
1.5875205993652344,
-0.9451858401298523,
4.475801944732666,
1.9567890167236328,
1.8019081354141235,
6.75112771987915
],
"class_other": "Car"
},
{
"bbox_3d_other": [
38.42975997924805,
7.254759311676025,
-0.185665562748909,
4.710094451904297,
2.028672456741333,
1.8033688068389893,
6.739089488983154
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.682655334472656,
-2.967588424682617,
-1.3096953630447388,
4.6090006828308105,
1.9459638595581055,
1.5911486148834229,
-5.802611351013184
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.17523956298828,
7.3405890464782715,
-1.0415116548538208,
4.473219394683838,
1.9284355640411377,
1.6082284450531006,
6.676312446594238
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.444145202636719,
2.004786968231201,
-1.1022286415100098,
4.625028133392334,
1.9990241527557373,
1.8178536891937256,
-12.329874992370605
],
"class_other": "Car"
},
{
"bbox_3d_other": [
35.519808733616486,
9.924016934614954,
-0.7575683873134018,
4.454084690581529,
1.9423646325565236,
1.6316100155624584,
-5.72650493352076
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.672167523387827,
-6.5217897329018655,
-1.5423648055069048,
4.357788153439848,
1.8994804701076191,
1.5673533773922839,
0.23953576503943363
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.8349010131717876,
4.338973844721636,
-1.332165604458316,
4.415015766528237,
1.9221834680067027,
1.6172570318885255,
0.168051809214961
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.324276441708975,
8.513175634901515,
-0.8917104806291771,
4.578637348689875,
1.9915587770240504,
1.7880529994621097,
0.4134915041586309
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.7769341011078,
-7.62459696311744,
-0.9718495569729066,
0.8699510995035947,
0.8102152960347204,
1.8273864470381398,
-3.062386825731491
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.8918141498453418,
-0.4523071000926304,
-0.00926333317039648,
-122.63101066326271
],
[
0.4519525516103112,
-0.8898290399014275,
-0.06279467207520854,
171.5026814197964
],
[
0.020159693166304303,
-0.06018776415434624,
0.997983476725713,
2.871792583737604
],
[
0,
0,
0,
1
]
],
"timestamp": 3931
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003171/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": [
17,
381,
162,
624
],
"bbox_3d": [
8.921663464526176,
4.354598642087947,
-1.066483959549785,
0.8193607323254329,
0.7803666002019846,
1.7737391774035318,
4.43048345385511,
0.974262535572052,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark bottom, with a hat \n2. Motion state: stationary \n3. Position to viewer: top-left, near the left edge of the view, slightly above center; back to observer \n4. Relationship with surrounding objects: a black car to the right front of the target, a traffic light pole to the left of the target \n5. Summary: person wearing dark clothes and a hat, standing on the sidewalk at the top-left corner of the view, with their back to the observer, near a traffic light pole and a black 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_ucity_small_loop/005877/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005877/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.042776541661823,
5.536116324385972,
-0.9611451821511459,
4.667624341472854,
1.9956625754984934,
1.7096186919544185,
1.529243677307728
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.135692729323637,
7.20657352489539,
-0.931518203335088,
4.609781976121948,
1.9822551557728085,
1.7121729477964094,
1.6372624322768614
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.977005958557129,
-1.3980509042739868,
-1.206203579902649,
0.8748931884765625,
0.8242182731628418,
1.8390440940856934,
4.093040466308594
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9961908761638212,
0.08501515698315698,
0.019394878991312828,
-222.32208756722554
],
[
-0.08644479211056899,
-0.9920303411824141,
-0.09166842471900591,
174.40739439795627
],
[
0.011447102905058699,
-0.09299583461979746,
0.9956006923352598,
4.720756057534616
],
[
0,
0,
0,
1
]
],
"timestamp": 1630
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005877/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,
404,
1130,
592
],
"bbox_3d": [
14.106091538264764,
-3.854796511157483,
-1.4327006095694987,
4.387483215574111,
1.9295192183730994,
1.6951823953001084,
6.227541008410649,
0.9980661869049072,
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_ucity_small_loop/003864/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003864/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.015035629272461,
-0.1187368631362915,
-1.272748589515686,
4.768280982971191,
2.0553178787231445,
1.8506863117218018,
-0.03242087364196777
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.108937882456388,
3.8401623384636423,
-1.0461418424305808,
5.669598998514096,
2.2919253576007548,
2.257497669396593,
6.2157578268382565
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.918273457183147,
-6.663629673521825,
-1.4076566691831882,
4.478299914532413,
1.967193143944135,
1.7443476162231648,
6.20206423771385
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.038231352340375,
3.6967610044987396,
-1.5465048617384287,
4.36140773897326,
1.904211432969099,
1.5990355701303416,
6.230806475360114
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.027323366662102,
-4.110518871901576,
-1.2983724714413185,
4.784727307474262,
2.0490814832120354,
1.8200559717849312,
6.208847706233332
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.143326598126123,
2.8743715457179633,
-0.9360168485413496,
6.240192683794156,
2.4691166408784033,
2.572271319202197,
6.24097081757296
],
"class_other": "Car"
}
],
"pose": [
[
-0.9992990779704998,
0.027074024792244224,
0.025852465044134486,
-199.09784125203709
],
[
-0.02845011180346474,
-0.9981119633190267,
-0.054434362472693704,
177.30157311081902
],
[
0.024329897362701858,
-0.055131713749775574,
0.9981826236883377,
4.494519446668293
],
[
0,
0,
0,
1
]
],
"timestamp": 4332
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003864/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,
412,
1279,
614
],
"bbox_3d": [
12.0985145083217,
-6.694297372444686,
-1.5020160526225113,
4.479528777198205,
1.943634989618101,
1.6364157867095723,
6.222365937490812,
0.9949491024017334,
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_ucity_small_loop/003557/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003557/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.24367332458496,
3.6571731567382812,
-1.5294640064239502,
4.301197052001953,
1.8832955360412598,
1.5615768432617188,
-0.04227113723754883
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.299564361572266,
3.8247132301330566,
-1.0125524997711182,
5.71089506149292,
2.2923314571380615,
2.2467126846313477,
6.216915607452393
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.265655791044765,
-3.8442333768314825,
-1.4195730733757337,
4.40639220686939,
1.931626650652224,
1.6879173289481344,
6.231540295361659
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.190365492256632,
-4.087748355755281,
-1.3154945981100834,
4.711008020022279,
2.0222979772000294,
1.7582650448416242,
6.183138889992123
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.172672210957188,
-0.08964178425952696,
-1.2447577572027821,
4.737490969460495,
2.051196482451439,
1.8499114149555609,
-0.027585650430687725
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.215995299810004,
2.8032976763329316,
-0.8877317803100944,
6.143347348041671,
2.4836217308830513,
2.5709064594722046,
6.225421417640458
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.9445277184380245,
4.329760507486668,
-1.2350009578818817,
4.849103383978512,
2.08124357673093,
1.838334148900188,
6.159801293300401
],
"class_other": "Car"
}
],
"pose": [
[
-0.9993306922330399,
0.0275325380678395,
0.024085823809373054,
-198.94934873641103
],
[
-0.028799348715943016,
-0.9981291091824943,
-0.05393402373361048,
177.30343519216765
],
[
0.022555821301178648,
-0.05459158131161907,
0.9982539727821401,
4.490100251199087
],
[
0,
0,
0,
1
]
],
"timestamp": 4112
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003557/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
550,
391,
763,
589
],
"bbox_3d": [
14.706341502435464,
-0.04523371658661546,
-1.3228037443997869,
4.748311192606826,
2.0568319892626996,
1.855462668029359,
-0.012311725329646084,
0.9980871081352234,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark green, with visible rear lights and a license plate\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, rear facing observer; the vehicle is fully visible and not occluded\n4. Relationship with surrounding objects: a white van to the right front of the target, a black car to the left front of the target\n5. Summary: dark green SUV, rear facing observer, stationary in the center of the road, with a white van to its right front and a black car 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_ucity_small_loop/003088/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003088/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.31425666809082,
4.715443134307861,
-1.4768574237823486,
4.574829578399658,
1.978327989578247,
1.679555892944336,
6.346673488616943
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.675376892089844,
5.144514083862305,
-1.5689018964767456,
4.382866382598877,
1.9286017417907715,
1.6293346881866455,
0.026668310165405273
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.073404312133789,
-5.841047286987305,
-1.3802156448364258,
5.870934009552002,
2.2658605575561523,
1.9432591199874878,
6.337159156799316
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.212202072143555,
-5.2787885665893555,
-1.2329117059707642,
5.09862756729126,
2.1779868602752686,
2.115370035171509,
0.08646368980407715
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.02314567565918,
5.233914852142334,
-1.4818599224090576,
4.623781681060791,
2.0017008781433105,
1.697121024131775,
6.31112003326416
],
"class_other": "Car"
},
{
"bbox_3d_other": [
29.96944236755371,
-4.93653678894043,
-1.5006768703460693,
4.626620769500732,
2.0049846172332764,
1.675838828086853,
6.336094856262207
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.481988681457551,
-6.123294518617627,
-1.4057435763721404,
4.605190179133109,
2.01605585518432,
1.8522347235305154,
0.05017986766544258
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.176593176172929,
4.14696801175873,
-1.3379854858480869,
4.565831031478943,
1.9993790491022343,
1.761295479859086,
0.040251536737493154
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.757202753190654,
4.439916392789229,
-1.375732924387286,
4.500364842761676,
1.9821602343884956,
1.7648965334852231,
0.03987060429870404
],
"class_other": "Car"
}
],
"pose": [
[
-0.9971807107806326,
-0.07215840868221131,
0.020586260065481157,
-138.5260266063067
],
[
0.07083604114325674,
-0.9957410760255864,
-0.059008175624726524,
175.57553538707506
],
[
0.024756520801265475,
-0.05738356534634898,
0.9980452099509112,
3.249680321960957
],
[
0,
0,
0,
1
]
],
"timestamp": 3972
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003088/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": [
324,
411,
508,
537
],
"bbox_3d": [
19.616470898589228,
3.595754826464539,
-1.6122033451091173,
4.34725344875123,
1.9152155115891472,
1.6078211165504528,
6.23220964409807,
0.9407218098640442,
1
],
"class": "car",
"description": "1. Appearance: SUV, black, with visible rear lights and license plate\n2. Motion state: stationary\n3. Position to viewer: center, slightly left, bottom-center; rear facing observer\n4. Relationship with surrounding objects: a white pickup truck to the left front of the target, a gray car to the right front of the target\n5. Summary: black SUV in the center of the road, rear facing observer, with a white pickup truck to its left front and a gray 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_ucity_small_loop/003498/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003498/lidar.bin",
"others": [
{
"bbox_3d_other": [
10.408746719360352,
-0.1556382030248642,
-1.2886316776275635,
4.729673862457275,
2.0481157302856445,
1.848623514175415,
-6.332528114318848
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.548015594482422,
-4.3606767654418945,
-1.4021730422973633,
4.696732521057129,
2.031761884689331,
1.772034764289856,
6.133809566497803
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.719666481018066,
-3.9667210578918457,
-1.4691611528396606,
4.4832000732421875,
1.9527846574783325,
1.6889294385910034,
-0.05979180335998535
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.330408001756695,
-6.7409978069724446,
-1.4237972546638318,
4.643089073966394,
2.0116868561414747,
1.7638718998068692,
6.199396687308287
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.109753768845394,
-6.251858404894421,
-1.2820004595308667,
4.765426474590357,
2.0645940259250435,
1.8388276427344608,
6.204657786861745
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.77422108501301,
3.7437280574583838,
-1.0904313268691386,
5.6590913362468145,
2.287562725045687,
2.28989322621359,
6.197963542485562
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.294162066439668,
4.319485653375267,
-1.1167302494064142,
5.1838988571886455,
2.192100688552171,
2.100705727895971,
6.190261960032649
],
"class_other": "Car"
}
],
"pose": [
[
-0.9990826605494972,
0.031350427334832946,
0.029171700246322263,
-197.53443676754733
],
[
-0.032875754891497154,
-0.9980336224491938,
-0.05336734208534326,
177.3265523510564
],
[
0.027441248689739323,
-0.05427742778414622,
0.9981487557991968,
4.451348117556494
],
[
0,
0,
0,
1
]
],
"timestamp": 4098
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003498/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": [
31,
382,
241,
459
],
"bbox_3d": [
26.019009452105706,
11.491659458808048,
-1.1127986415316373,
4.560577181701136,
1.9496983877810596,
1.5823017108336601,
4.638944035756586,
0.9475437998771667,
1
],
"class": "car",
"description": "1. Appearance: car, dark red, with visible side profile and wheels\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 yellow pedestrian crossing signal to the right of the target, a brick building to the left of the target\n5. Summary: dark red car, stationary, located at the top-left of the view near a pedestrian crossing signal and a brick building, side facing observer"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001044/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001044/lidar.bin",
"others": [
{
"bbox_3d_other": [
10.280296070135392,
-4.4661980212903245,
-1.3086376140403573,
0.8581457326902262,
0.8201061629309238,
1.8219648542967215,
1.4295131469406537
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9961985855939858,
0.08496003744399733,
0.019239805042082753,
-222.32275472386692
],
[
-0.08637476316634438,
-0.9920422701884574,
-0.09160531888100239,
174.40854396407389
],
[
0.011303908549731819,
-0.09291892270601713,
0.9956095095240167,
4.720404473978592
],
[
0,
0,
0,
1
]
],
"timestamp": 1520
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001044/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
967,
415,
1203,
563
],
"bbox_3d": [
16.725709096769847,
-5.814423422445998,
-1.6559714360015643,
4.449219174228,
1.9291401008226987,
1.603894905389833,
0.019543571708050322,
0.9961158037185669,
1
],
"class": "car",
"description": "1. Appearance: sedan, white, with visible rear lights and rear windshield\n2. Motion state: stationary\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer, side profile facing observer; partially occluded by the green bounding box, rear of the car is visible\n4. Relationship with surrounding objects: a dark SUV to the left front of the target, a silver sedan to the left rear of the target\n5. Summary: white sedan parked on the right side of the road, rear facing observer, with a dark SUV and a silver sedan 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_ucity_small_loop/000618/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000618/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.14586639404297,
-5.545192718505859,
-1.5960323810577393,
4.648769855499268,
1.98617422580719,
1.6360715627670288,
6.503170967102051
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.67974832953186,
-1.7449495768805434,
-1.382956521335701,
4.8915575073872075,
2.0770503883251257,
1.815273271740323,
0.13156136501854387
],
"class_other": "Car"
},
{
"bbox_3d_other": [
35.64140987446919,
0.07758623512160057,
-1.0155735962926116,
4.694052552841849,
1.9855211529639385,
1.6648110485516383,
-5.633073571039267
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.119739828910753,
4.927623935894388,
-1.5128608890204607,
4.4585639653380165,
1.9532035600938211,
1.6704132364666717,
0.11025815079977042
],
"class_other": "Car"
},
{
"bbox_3d_other": [
44.56475358118297,
5.9238332223769845,
-0.5982804001590578,
4.485726324011683,
1.9578331513137335,
1.6737151092984015,
0.5959135822250099
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.255825142371066,
-4.691607831623557,
-1.469827062328223,
4.365486019186954,
1.9165008928126597,
1.635250972538386,
0.3624911322812219
],
"class_other": "Car"
},
{
"bbox_3d_other": [
39.65745650255923,
2.891112329321757,
-0.998335651639449,
4.372220333778137,
1.913153853314642,
1.590853162019029,
-5.603807368910985
],
"class_other": "Car"
},
{
"bbox_3d_other": [
33.665874362918856,
11.673580808113769,
-0.7127416729880487,
4.504452947317747,
1.9561200919459798,
1.666336884735805,
-5.6619261608112605
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.964081894101753,
9.98941332929197,
-0.9608904806583078,
0.7630745646406393,
0.7474448221628783,
1.8207344261349225,
-0.6132068966283779
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.8230887153018615,
-0.5675352036513065,
-0.020706505238732735,
-108.14698101679743
],
[
0.5677242514792732,
-0.821328831133067,
-0.055750564408706085,
161.98020809315886
],
[
0.0146335581807912,
-0.05764324562392675,
0.9982299911387704,
2.185404707029641
],
[
0,
0,
0,
1
]
],
"timestamp": 1160
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000618/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": [
720,
367,
886,
427
],
"bbox_3d": [
37.63906938407165,
-4.458689260197633,
-0.9267557717689234,
4.838474755274734,
2.0457607656059795,
1.7302397185556904,
1.4908743398919782,
0.9619205594062805,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark green, with visible side windows and wheels\n2. Motion state: moving right in frame\n3. Position to viewer: top-right, 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 right front of the target\n5. Summary: dark green SUV, side facing observer, moving right in frame, located at top-right of view, to the right of a white van and in front of a pedestrian"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004893/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004893/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.82021336463461,
-0.6953802647298692,
-1.2481457514033358,
4.815513998186111,
2.036947327556995,
1.745699038450542,
-0.004005345359934013
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.143369651495462,
-0.7333235618341845,
-1.2854492511437545,
4.76006521347357,
2.0572125897625413,
1.8659744088483627,
0.022666846806102876
],
"class_other": "Car"
}
],
"pose": [
[
0.99999035857025,
0.0029992546987226117,
0.0032073724129110656,
-14.240368953930798
],
[
-0.003047544754612601,
0.9998804578196453,
0.015158579793147357,
-0.5257915379809266
],
[
-0.003161524554949058,
-0.015168208253738226,
0.9998799579053776,
2.4419973144909584
],
[
0,
0,
0,
1
]
],
"timestamp": 6112
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004893/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": [
894,
384,
1204,
614
],
"bbox_3d": [
12.733772274994836,
-3.8712783231852255,
-1.2614495250253055,
4.675859589867074,
2.0427810164386777,
1.8971236008888102,
-0.016413064088621934,
0.9982523918151855,
1
],
"class": "car",
"description": "1. Appearance: SUV, white, with spare tire mounted on rear door\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 white car in front, rear of the vehicle is visible\n4. Relationship with surrounding objects: a white car to the left front of the target, a pedestrian to the left of the target, a red car to the left rear of the target\n5. Summary: white SUV with spare tire on rear door, stationary in traffic at bottom-right of view, rear facing observer, partially occluded by a white car in front, located near a pedestrian and a red car to the left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005288/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005288/lidar.bin",
"others": [
{
"bbox_3d_other": [
36.46702194213867,
6.645966529846191,
-0.625145673751831,
4.7338738441467285,
2.0269031524658203,
1.744385838508606,
1.5193841457366943
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.276344299316406,
-0.6964044570922852,
-1.3237797021865845,
4.874328136444092,
2.0528974533081055,
1.7653663158416748,
6.277517795562744
],
"class_other": "Car"
},
{
"bbox_3d_other": [
36.244685915771214,
-6.930743423530609,
-1.3606893676798553,
4.627109996608047,
1.9823123285027802,
1.633478681572148,
1.582207339487568
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.633849095243196,
-0.7522173022888716,
-1.2927055577049118,
4.77282684677163,
2.059744708452625,
1.8681987142597567,
0.00653300832500094
],
"class_other": "Car"
},
{
"bbox_3d_other": [
46.46079047899235,
19.167153740682803,
-0.10488415621421954,
4.918550160023227,
2.0844298722374655,
1.8150824957361238,
1.6052041904488528
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.99713326866491,
3.04580887012171,
-0.9415789720040819,
0.8465399584577795,
0.800827165966254,
1.8599292569617756,
0.011340461156758297
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999954807907243,
0.0027335962807861288,
0.0012513390835647532,
-12.817142928366884
],
[
-0.0027511350147067085,
0.9998948829732632,
0.01423566858336344,
-0.5468466033059961
],
[
-0.001212292975826863,
-0.014239046852165996,
0.9998978847314774,
2.4462474123112368
],
[
0,
0,
0,
1
]
],
"timestamp": 6428
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005288/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,
412,
128,
715
],
"bbox_3d": [
8.684920165819449,
5.5599229059516055,
-1.3526322620475628,
4.483542442321777,
1.9755738973617554,
1.727263331413269,
6.478109545318208,
0.9310042858123779,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible wheel\n2. Motion state: stationary\n3. Position to viewer: bottom-left, partially occluded by the frame edge; side facing observer\n4. Relationship with surrounding objects: a dark-colored car to the right front of the target, a white van to the right rear of the target\n5. Summary: dark-colored car, partially visible at the bottom-left, side facing observer, stationary, with a dark-colored car to its right front and a white van to its right rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000749/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000749/lidar.bin",
"others": [
{
"bbox_3d_other": [
21.349498748779297,
5.999370574951172,
-0.7899805307388306,
6.613224506378174,
2.603142738342285,
2.838545799255371,
-12.300195693969727
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.042428553023683,
1.199559788442997,
-1.4045028819198269,
4.476877212524414,
1.971466064453125,
1.711079716682434,
-6.093370490463652
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.86898247691974,
-4.696038843045272,
-1.5977277489295751,
4.563372611999512,
1.9720065593719482,
1.6379278898239136,
-12.336700253876128
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.419522046079152,
-3.5665517822217794,
-1.3625437402791807,
4.625271320343018,
2.0293800830841064,
1.897430181503296,
6.502503580657564
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.78968426738092,
-0.731228505188767,
-1.2185446632130361,
4.972933056278423,
2.137586245244798,
2.058748381191906,
-6.043926274385425
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.87724933672237,
-2.403802487478771,
-1.379707934445431,
5.82017456641693,
2.2489018857726712,
1.9318570783307276,
0.20860573648267833
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.040669272331485,
6.7940111651732025,
-1.3627386373527255,
4.5650585086412745,
2.0037107348791663,
1.7536310259839492,
0.07295070586078234
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.1994103821863,
5.833815245874689,
-1.3743686435343179,
0.8293487429618835,
0.7679540514945984,
1.6844596862792969,
0.9114429422298294
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9748007985896893,
-0.22211033298032828,
0.020746157530292506,
-133.11240055954823
],
[
0.22032550458114308,
-0.9731662249604555,
-0.0663639256470012,
175.0162642056134
],
[
0.03492957342952687,
-0.06012070009226196,
0.9975797844385418,
2.6963943049588015
],
[
0,
0,
0,
1
]
],
"timestamp": 1200
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000749/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
837,
384,
999,
517
],
"bbox_3d": [
20.03555429181401,
-4.101736615086996,
-1.297010332820147,
4.7737780421517515,
2.044353937849958,
1.819207178300738,
6.200341645724112,
0.9947986006736755,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark gray, with visible rear lights and a roof rack\n2. Motion state: stationary\n3. Position to viewer: right-center, slightly right, near the right edge of the view; rear facing observer, side profile facing observer; partially occluded by the car in front\n4. Relationship with surrounding objects: a gray SUV to the left front of the target, a white car to the left of the target\n5. Summary: dark gray SUV with a roof rack, stationary in the right-center of the view, rear facing observer, partially occluded by the car in front, located to the right of a gray SUV 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_ucity_small_loop/003767/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003767/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.049882888793945,
3.6854841709136963,
-1.5314594507217407,
4.452114582061768,
1.92303466796875,
1.5998185873031616,
6.223813056945801
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.152755737304688,
2.864776611328125,
-0.9379402995109558,
6.2553815841674805,
2.4721322059631348,
2.5807857513427734,
6.237971782684326
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.104442998339522,
3.828947407036452,
-1.028817606386232,
5.668568021353452,
2.2893092627126514,
2.237430077730035,
6.220608315654777
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.081904124167352,
-3.842912659864197,
-1.4207905803011673,
4.392774078274529,
1.9321302220711531,
1.7035954918290397,
6.2273044882558235
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.987473689856472,
-0.0748485376915653,
-1.2746968349247254,
4.749475581159059,
2.048593322442094,
1.8418417727074798,
6.241148235439493
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.929476865001476,
-6.6708443972447355,
-1.421097459580686,
4.454669552124049,
1.9570764168570447,
1.7274660365593668,
6.213737664223716
],
"class_other": "Car"
}
],
"pose": [
[
-0.9993017111855579,
0.027218583490119293,
0.025597631421817778,
-199.09468559832382
],
[
-0.02858194565318981,
-0.9981047904665347,
-0.05449678550550582,
177.30019066175453
],
[
0.024065793240488284,
-0.05519036111991305,
0.9981857851297823,
4.493215129603362
],
[
0,
0,
0,
1
]
],
"timestamp": 4244
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003767/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": [
1142,
400,
1279,
613
],
"bbox_3d": [
11.931272006097572,
-6.663391000346705,
-1.4075826728481489,
4.480570827684733,
1.9671860316710807,
1.739473675661382,
6.198473699856663,
0.9964402914047241,
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_ucity_small_loop/003575/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003575/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.05775260925293,
-4.126775741577148,
-1.2863316535949707,
4.782304763793945,
2.053593873977661,
1.8394179344177246,
6.1869001388549805
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.30495834350586,
2.869565010070801,
-0.9399313926696777,
6.325392246246338,
2.506592035293579,
2.615978956222534,
6.229931831359863
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.993391990661621,
-0.13903525471687317,
-1.2891672849655151,
4.730254650115967,
2.043836832046509,
1.8349765539169312,
-0.04416179656982422
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.079147963867285,
-3.8463699383714243,
-1.4446825089115372,
4.386412425125995,
1.9291251762019672,
1.6961045789002875,
6.222020866869407
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.05407155232669,
3.682917349805365,
-1.5866618191954345,
4.388181955154755,
1.9125943777630612,
1.5944776926978859,
6.223196113825988
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.105864601321883,
3.8316659851524832,
-1.0468570847180665,
5.691416196990587,
2.29601586138692,
2.254544582014379,
6.214443573237924
],
"class_other": "Car"
}
],
"pose": [
[
-0.9992931602935303,
0.027137111380547873,
0.026014553167188467,
-199.093498579992
],
[
-0.028519007908667914,
-0.9981167869534516,
-0.054309720949600834,
177.30156357705098
],
[
0.024491753274808098,
-0.05501324192990188,
0.9981852018708192,
4.494484260106143
],
[
0,
0,
0,
1
]
],
"timestamp": 4184
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003575/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,
413,
494,
550
],
"bbox_3d": [
18.071836735046617,
3.658045646442303,
-1.5880652155191446,
4.378252953090863,
1.9101187436980276,
1.588745142605549,
6.225937932368707,
0.9643032550811768,
1
],
"class": "car",
"description": "1. Appearance: car, dark-colored, with visible headlights\n2. Motion state: stationary\n3. Position to viewer: left-center, slightly left, near the left edge of the view; rear facing observer, side facing observer; partially occluded by a white truck to the right\n4. Relationship with surrounding objects: a white truck to the right of the target, a black SUV in front of the target\n5. Summary: dark-colored car, partially occluded by a white truck to the right, located in the left-center of the view, rear facing observer, stationary, with a black SUV 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_ucity_small_loop/003754/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003754/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.008720397949219,
-0.09947732090950012,
-1.2767179012298584,
4.735252857208252,
2.0457634925842285,
1.8391361236572266,
-0.06353092193603516
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.004220962524414,
-4.116345405578613,
-1.2805756330490112,
4.737217903137207,
2.035895347595215,
1.8110920190811157,
6.207697868347168
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.085334777832031,
-3.8382091522216797,
-1.422742247581482,
4.396661758422852,
1.9305044412612915,
1.6887693405151367,
6.237426280975342
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.116306503495991,
3.8314625782424514,
-1.0372237171448901,
5.688355938914145,
2.2932974308913012,
2.252893771004571,
6.213980628273111
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.810800621228253,
2.8548220453051556,
-0.9444269654615294,
5.931947183647757,
2.4263779070435643,
2.547169405755087,
6.216615613541371
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.908632184646649,
-6.667264440973668,
-1.4077837558070652,
4.476688341811887,
1.9658183362968142,
1.7403445791195118,
6.20880262278069
],
"class_other": "Car"
}
],
"pose": [
[
-0.9993004299150193,
0.027211292982631783,
0.02565533679121981,
-199.0953067103561
],
[
-0.028577977184329317,
-0.9981046182546994,
-0.054502020501011765,
177.30158182444873
],
[
0.024123639686197757,
-0.055197070147374024,
0.9981840178321011,
4.493963752505008
],
[
0,
0,
0,
1
]
],
"timestamp": 4292
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003754/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,
349,
197,
590
],
"bbox_3d": [
11.559223580348771,
6.646828724467424,
-0.9013549836853059,
5.1787058790849985,
2.1329982769716596,
1.9776347358771384,
-0.07950795903979685,
0.9533553123474121,
1
],
"class": "car",
"description": "1. Appearance: pickup truck, white, with dark windows\n2. Motion state: stationary\n3. Position to viewer: top-left, near the left edge of the view, slightly above the center; side facing observer, rear facing observer; partially occluded by the building on the left, front of the truck is not visible\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a building to the left of the target\n5. Summary: white pickup truck parked on the left side of the street, partially occluded by a building, with a pedestrian standing nearby on the sidewalk."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004699/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004699/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.747411727905273,
-3.653346061706543,
-0.7069149613380432,
9.360392570495605,
2.9255785942077637,
3.2600419521331787,
-12.540740013122559
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.343596294125405,
-8.757442004172091,
-0.9977686560888059,
5.817511168450095,
2.3682365301441357,
2.3680336052456514,
-0.05558893580713812
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.616384565278238,
3.1848018561503055,
-1.0387232821360604,
0.8455006745515835,
0.7993522797813974,
1.8481277573769337,
-0.09087174305698281
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
6.216883293648294,
3.7400993863695433,
-1.2228806074308733,
0.7680229436189441,
0.7358407310645577,
1.6753419663671159,
-3.037396399833768
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999885061688173,
0.0030035297729762147,
-0.0037371565608727494,
-117.33439155703418
],
[
-0.002951647155989258,
0.9999002556411047,
0.013811826378875637,
1.55459624532299
],
[
0.003778268032335625,
-0.013800636860540524,
0.999897628316479,
2.259508462948571
],
[
0,
0,
0,
1
]
],
"timestamp": 5244
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004699/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": [
989,
444,
1279,
799
],
"bbox_3d": [
6.1363129086977795,
-3.228988930074239,
-1.4842073461222138,
4.641019617208761,
1.9707613073733783,
1.6189841856394531,
-0.03318789616822792,
0.9981786608695984,
1
],
"class": "car",
"description": "1. Appearance: car, white, with dark windows\n2. Motion state: moving right in frame\n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; side facing observer, rear facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a black car to the left of the target\n5. Summary: white car, with dark windows, located at the bottom-right of the view, moving right in frame, side and rear facing observer, with a pedestrian to its left front and a black 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_ucity_small_loop/000075/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000075/lidar.bin",
"others": [
{
"bbox_3d_other": [
23.67118263244629,
10.620523452758789,
-0.828684389591217,
4.714408874511719,
1.99808669090271,
1.626303791999817,
1.475874662399292
],
"class_other": "Car"
},
{
"bbox_3d_other": [
31.765610837976034,
-2.782828850380784,
-1.0055652852990178,
4.7643912101624215,
2.0414429101382545,
1.7583109541123312,
0.4026046441916823
],
"class_other": "Car"
}
],
"pose": [
[
0.9999998421759123,
0.0005391479169510963,
0.00015801162675709306,
-0.01175694098223814
],
[
-0.0005391107699411821,
0.9999998270581698,
-0.00023503873806223245,
-0.01130221538642055
],
[
-0.0001581383200763022,
0.00023495351519769737,
0.9999999598945579,
0.01220362522717653
],
[
0,
0,
0,
1
]
],
"timestamp": 136
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000075/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": [
382,
374,
452,
510
],
"bbox_3d": [
16.39926485821553,
3.1162303931525543,
-1.013298895560015,
0.8188063903253187,
0.7704016803907003,
1.7203371074628724,
0.3717192193894556,
0.9565865993499756,
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 the center, partially occluded by a tree trunk; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a bicycle to the right 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 blocked by a tree trunk, with a pedestrian to the left and a bicycle 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_ucity_small_loop/007035/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/007035/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.03967571258545,
4.417696952819824,
-0.8675819635391235,
0.8614078760147095,
0.8054214715957642,
1.8357754945755005,
-3.080704689025879
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.50161634841305,
5.048481570466507,
-0.8525818768513855,
0.8149559446175639,
0.7607781777676154,
1.7063016053238258,
2.9331112366928447
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.260480989625393,
3.6389751113243367,
-1.0715691228148159,
0.8012393421944409,
0.7449550658664675,
1.6178849004184643,
0.03451073433539618
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999273181249467,
0.004134384812446316,
0.011325428454347268,
-159.50017332938455
],
[
-0.0043648783232216075,
0.9997823025477707,
0.0204033171200589,
2.2452233350519504
],
[
-0.011238607773002651,
-0.020451268285874884,
0.999727682582024,
2.3309249063590913
],
[
0,
0,
0,
1
]
],
"timestamp": 5016
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/007035/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": [
257,
410,
523,
549
],
"bbox_3d": [
18.024821414499257,
3.677240868233347,
-1.5475806806792063,
4.35790245898912,
1.9078146343417557,
1.614897699806547,
5.946704497157284,
0.9906617999076843,
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_ucity_small_loop/003741/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003741/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.10335922241211,
-3.8578121662139893,
-1.422092080116272,
4.400883197784424,
1.9338452816009521,
1.70326828956604,
6.2314629554748535
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.14292335510254,
2.902357816696167,
-0.9301934242248535,
6.292893886566162,
2.47890043258667,
2.58792781829834,
-0.04744863510131836
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.985671087356536,
-0.08033940947331075,
-1.2796582377903452,
4.751749978656059,
2.048493732590921,
1.8403736629802816,
6.240319189362044
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.00261450309165,
-4.138427633946208,
-1.3050283185717753,
4.783394446571324,
2.0463967322348493,
1.8049131357707395,
6.202414475511151
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.110069301384101,
3.8308732985628637,
-1.0440009388798952,
5.695105414648398,
2.2953936777472412,
2.2549126333614176,
6.2109684469635065
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.959381342008612,
-6.665361713810682,
-1.4280382971053793,
4.4483768831988275,
1.9554583231244766,
1.726227752542673,
6.208670624128527
],
"class_other": "Car"
}
],
"pose": [
[
-0.9992974498696029,
0.027185276303894255,
0.02579859369014823,
-199.09248477031073
],
[
-0.028555222674876094,
-0.998115764321582,
-0.05430948601057202,
177.30105505856923
],
[
0.024273564676344363,
-0.055008015461614324,
0.9981908195795423,
4.494780018703219
],
[
0,
0,
0,
1
]
],
"timestamp": 4240
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003741/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": [
1162,
415,
1279,
587
],
"bbox_3d": [
13.80171310920968,
-7.880336635206504,
-1.6144328973558821,
4.506553967179119,
1.9606197520648552,
1.6305959597874942,
-0.022987646475615353,
0.8688050508499146,
1
],
"class": "car",
"description": "1. Appearance: car, black, with visible side profile and wheels\n2. Motion state: stationary\n3. Position to viewer: bottom-right, near the right edge of the view, slightly truncated; side facing observer\n4. Relationship with surrounding objects: a white van to the left front of the target, a black car to the left rear of the target\n5. Summary: black car, stationary, located at the bottom-right of the view, side facing observer, with a white van to its left front and another 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_ucity_small_loop/004551/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004551/lidar.bin",
"others": [
{
"bbox_3d_other": [
23.975332260131836,
-8.66928768157959,
-1.3927966356277466,
4.558334827423096,
1.9967479705810547,
1.7930282354354858,
6.2538042068481445
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.27898719654719,
-5.6973326338955985,
-1.519396373424712,
4.609185040372193,
1.993943481232024,
1.690485880288743,
-0.08348027104719113
],
"class_other": "Car"
},
{
"bbox_3d_other": [
29.999247002174954,
-9.341415270810131,
-1.3447717501993321,
4.5192076359836335,
1.9950880538427633,
1.7673354264446506,
-0.11636916397425456
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.288587466506883,
-8.42935392967783,
-1.5939665213537035,
4.39632974503698,
1.9467042144442515,
1.656640046450563,
-0.08420673658509581
],
"class_other": "Car"
}
],
"pose": [
[
0.057896941868422425,
0.9983094257169149,
0.005121976869122031,
-241.73829245422976
],
[
-0.9982626619848243,
0.05794890953818599,
-0.010657465472957196,
76.0658035740035
],
[
-0.01093626121015118,
-0.004496043605041934,
0.9999300894475798,
3.08177578399457
],
[
0,
0,
0,
1
]
],
"timestamp": 4774
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004551/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": [
394,
357,
456,
463
],
"bbox_3d": [
22.75120531040227,
4.139326517527138,
-0.7953497634601296,
0.8141868710517883,
0.7820571064949036,
1.8787328004837036,
4.288001116647898,
0.9383607506752014,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and light-colored pants, with a white hat \n2. Motion state: stationary \n3. Position to viewer: center, slightly left, near the center of the view; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a dark SUV to the left of the target \n5. Summary: person wearing dark top and light pants with a white hat, standing in the center-left of the view, side profile facing observer, near a dark SUV 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_ucity_small_loop/006074/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006074/lidar.bin",
"others": [
{
"bbox_3d_other": [
11.233573913574219,
3.9371016025543213,
-1.204938530921936,
4.546966552734375,
1.9744185209274292,
1.7461907863616943,
6.9984130859375
],
"class_other": "Car"
},
{
"bbox_3d_other": [
30.59224932638954,
-3.9168946197978016,
-1.3062909270857075,
4.395470142364502,
1.9078525304794312,
1.5979589223861694,
6.2881079281713355
],
"class_other": "Car"
},
{
"bbox_3d_other": [
47.43643125093584,
9.834605179049731,
-0.918285601117943,
4.501116752624512,
1.9485347270965576,
1.6471027135849,
4.868987139597117
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.989181041717529,
4.032327651977539,
-1.1984529495239258,
0.7802590727806091,
0.7539026141166687,
1.729819416999817,
-8.657134056091309
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.01221342454495633,
0.9993738386555039,
0.03320787364236906,
-239.12758812550464
],
[
-0.9998311390618783,
-0.011749509048234463,
-0.01412948687505364,
16.832708097626348
],
[
-0.013730463324721274,
-0.0333748355514802,
0.9993485851937751,
1.7935088604036493
],
[
0,
0,
0,
1
]
],
"timestamp": 2100
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006074/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": [
322,
375,
422,
564
],
"bbox_3d": [
12.194901482262999,
2.757128177403103,
-1.0458369088204644,
0.8338687941307925,
0.7839208802540802,
1.7842454301604223,
-0.009526898624010422,
0.9831916689872742,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack\n2. Motion state: moving left in frame\n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a tree trunk; side profile facing observer\n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white car to the right rear of the target\n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at left-center of the view, partially occluded by a tree trunk, with a pedestrian to the right 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_ucity_small_loop/007488/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/007488/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.15210900916926,
6.073100061389546,
-0.5320100860570267,
0.785646694004731,
0.7599865067115906,
1.883873323917558,
0.90544625908216
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998432566950046,
0.017684619617145046,
0.0008463276695725478,
-68.5208319171586
],
[
-0.01769724659567812,
0.9996724898332178,
0.018485684558254747,
0.8609261152931946
],
[
-0.0005191381888810663,
-0.01849776472043115,
0.9998287669375635,
2.261333166324188
],
[
0,
0,
0,
1
]
],
"timestamp": 5964
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/007488/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": [
621,
392,
917,
672
],
"bbox_3d": [
11.143369651495462,
-0.7333235618341843,
-1.2854492511437545,
4.76006521347357,
2.0572125897625413,
1.8659744088483627,
0.022666846806102876,
0.9991276860237122,
1
],
"class": "car",
"description": "1. Appearance: minivan, light-colored (possibly silver or light gray), with visible rear lights and a license plate\n2. Motion state: stationary\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer; the vehicle is fully visible and not truncated or occluded\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a dark SUV to the right rear of the target, a building to the left of the target\n5. Summary: A light-colored minivan is stationary in the center-right of the view, rear facing the observer, with a pedestrian to its left front and a dark 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_ucity_small_loop/004868/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004868/lidar.bin",
"others": [
{
"bbox_3d_other": [
37.639068603515625,
-4.458689212799072,
-0.9267557263374329,
4.809242248535156,
2.036064386367798,
1.7122220993041992,
1.4924947023391724
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.82021336463461,
-0.6953802647298692,
-1.2481457514033358,
4.815513998186111,
2.036947327556995,
1.745699038450542,
-0.004005345359934013
],
"class_other": "Car"
}
],
"pose": [
[
0.99999035857025,
0.0029992546987226117,
0.0032073724129110656,
-14.240368953930798
],
[
-0.003047544754612601,
0.9998804578196453,
0.015158579793147357,
-0.5257915379809266
],
[
-0.003161524554949058,
-0.015168208253738226,
0.9998799579053776,
2.4419973144909584
],
[
0,
0,
0,
1
]
],
"timestamp": 6112
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004868/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
892,
384,
1204,
613
],
"bbox_3d": [
12.735372544591838,
-3.86510442371155,
-1.2542798435788485,
4.675011673416184,
2.040261523141864,
1.8884128707917347,
-0.011039813149476763,
0.9983800053596497,
1
],
"class": "car",
"description": "1. Appearance: SUV, white, with spare tire mounted on rear door\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 white car in front, rear of the vehicle is visible\n4. Relationship with surrounding objects: a white car to the left front of the target, a pedestrian to the left of the target\n5. Summary: white SUV with spare tire on rear, located at bottom-right of the view, stationary, partially occluded by a white car in front, with a pedestrian to the left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005185/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005185/lidar.bin",
"others": [
{
"bbox_3d_other": [
35.52093505859375,
-14.241222381591797,
-1.2829564809799194,
4.535747528076172,
1.9600608348846436,
1.6158828735351562,
4.637206554412842
],
"class_other": "Car"
},
{
"bbox_3d_other": [
33.68327331542969,
2.5282058715820312,
-0.70838862657547,
5.683000087738037,
2.2465927600860596,
1.987552285194397,
-7.8191022872924805
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.627324104309082,
-0.7365107536315918,
-1.2919955253601074,
4.770153999328613,
2.056190013885498,
1.8572841882705688,
0.026559829711914062
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.24811373274266,
-0.6922756786658553,
-1.3184727796238909,
4.8664234792991,
2.0469569381216517,
1.7554409168606055,
-0.0101236153343039
],
"class_other": "Car"
},
{
"bbox_3d_other": [
30.26031830067474,
9.883825051613563,
0.29750219755086116,
9.684053460756937,
2.9514058232307434,
3.553119421005249,
-1.5877026326972843
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.312044687390785,
2.8875898186546887,
-0.9921901936055142,
0.8628452842094039,
0.8170000552586769,
1.897910465960089,
0.2168409708683676
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999951828117155,
0.002834816930684286,
0.0012641860359033736,
-12.8145932358387
],
[
-0.002852696052943419,
0.999892638456366,
0.01437267149825896,
-0.5464686542720029
],
[
-0.0012233064184366902,
-0.01437620860090901,
0.9998959086563312,
2.4470987856673694
],
[
0,
0,
0,
1
]
],
"timestamp": 6372
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005185/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,
427,
146,
799
],
"bbox_3d": [
5.297299774025005,
4.515176247460715,
-1.4335905428942788,
4.866261870187816,
2.0908662079698432,
1.8700470125631703,
-0.020505458866759474,
0.5851817727088928,
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_ucity_small_loop/004401/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004401/lidar.bin",
"others": [
{
"bbox_3d_other": [
13.235677719116211,
4.876368999481201,
-1.5242650508880615,
4.603705883026123,
1.9988881349563599,
1.7409393787384033,
6.252771377563477
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.08620834350586,
5.037902355194092,
-1.4764306545257568,
4.632575035095215,
2.0036747455596924,
1.743539571762085,
-6.2439985275268555
],
"class_other": "Car"
},
{
"bbox_3d_other": [
31.452610799173286,
-5.927104742652574,
-1.2394753313865,
5.111225687939622,
2.195339538118471,
2.146863658294765,
-0.012538417733169105
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.428314726254115,
5.043680569890597,
-1.6421865794995172,
4.508292700661268,
1.9527975465104743,
1.6254075141639936,
-0.012530496565855698
],
"class_other": "Car"
},
{
"bbox_3d_other": [
34.086615761891295,
5.0425548051838405,
-1.506200159269073,
4.725475239497359,
2.041157402018065,
1.7513974507649739,
-0.029963527012533575
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.91384237589196,
-5.997042557222187,
-1.2768718974629922,
5.764243917316134,
2.3418181182888658,
2.3330781274241934,
0.022639725196868854
],
"class_other": "Car"
}
],
"pose": [
[
-0.03425723897372024,
0.9993849872762487,
0.007489244604774231,
-240.4669662740977
],
[
-0.9992658805433435,
-0.034122637098727204,
-0.01741682001300368,
157.90018844686568
],
[
-0.017150555671296083,
-0.008080398769941946,
0.9998202666459033,
4.662567846750732
],
[
0,
0,
0,
1
]
],
"timestamp": 4663
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004401/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": [
264,
410,
534,
512
],
"bbox_3d": [
24.12040221787445,
4.978534358443145,
-1.7835209865648152,
4.918417670404153,
2.075577109420366,
1.7262698860240824,
-4.246041935826344,
0.8941807746887207,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark color, with visible side windows and wheels \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 foreground crosswalk; side 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: dark SUV, moving left in frame, side facing observer, located at center-left of the view, partially occluded by crosswalk, with a pedestrian to its right 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_ucity_small_loop/002561/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002561/lidar.bin",
"others": [
{
"bbox_3d_other": [
50.45432525981957,
25.704117590631775,
-1.5591534710465322,
4.68094664809127,
2.007355016947799,
1.7179704847748434,
-3.779097418488718
],
"class_other": "Car"
}
],
"pose": [
[
0.024676874017100836,
-0.9990756934481407,
-0.035196742034749234,
24.40997088456747
],
[
0.9984544169038642,
0.02638475033659926,
-0.04891443871537017,
56.29809592263326
],
[
0.04979788403043359,
-0.03393528710342489,
0.9981826321046161,
3.3626830931761154
],
[
0,
0,
0,
1
]
],
"timestamp": 3591
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002561/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": [
613,
395,
969,
731
],
"bbox_3d": [
9.629950556609923,
-0.7468975927199214,
-1.2839961078471955,
4.764655849441481,
2.0551114960272536,
1.8565873260703127,
0.012866290092364736,
0.9991973042488098,
1
],
"class": "car",
"description": "1. Appearance: minivan, white, with a rear license plate\n2. Motion state: stationary\n3. Position to viewer: bottom-center, slightly right, partially occluded by the car in front; rear facing observer\n4. Relationship with surrounding objects: a white SUV to the right of the target, a pedestrian to the left front of the target\n5. Summary: white minivan, rear facing observer, stationary, located at bottom-center of the view, partially occluded by the car in front, with a white SUV 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_ucity_small_loop/005479/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005479/lidar.bin",
"others": [
{
"bbox_3d_other": [
17.268495611027795,
-0.6788211995893101,
-1.317251456140321,
4.839591278474897,
2.0450827075326767,
1.762395010249002,
-0.008888704194535687
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.236668862516461,
-3.6784702408508423,
-1.4132173886053307,
4.5859804989155455,
1.9941683891911453,
1.7052954234235473,
0.04379334923343557
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.710576597162879,
-3.859325515400851,
-1.2598692152616233,
4.656079032170246,
2.0341551024177766,
1.8839644807250937,
-0.023529018259699223
],
"class_other": "Car"
},
{
"bbox_3d_other": [
46.42501984779085,
19.100348662535865,
-0.09602637371282663,
4.943046695590636,
2.0944864388289397,
1.8474192497143087,
1.5821945443653054
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.823470115661621,
3.016552209854126,
-1.0351338386535645,
0.8457301259040833,
0.7858592867851257,
1.7376174926757812,
6.30084228515625
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999948184001894,
0.0028732891360574147,
0.0014516825798526476,
-12.814607538916967
],
[
-0.0028938006357038084,
0.9998931231039064,
0.01433067644589407,
-0.5470094675416831
],
[
-0.0014103512515800584,
-0.014334803070036132,
0.9998962567838178,
2.4460813659446323
],
[
0,
0,
0,
1
]
],
"timestamp": 6580
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005479/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
686,
379,
759,
523
],
"bbox_3d": [
16.13251684621798,
-0.8761157445520382,
-1.1232426264660758,
0.7722519508296672,
0.7572421910754,
1.7804824895347724,
4.434853774540372,
0.9212679266929626,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a light-colored hat \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 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, moving left in frame, side profile facing observer, located at center-right near the right edge, 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_ucity_small_loop/006078/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006078/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.45756023913694,
4.023113730282859,
-0.5711756854597692,
4.939041303499648,
2.0900996504853304,
1.8103620123645485,
2.030286258439031
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.709455490112305,
-2.3525843620300293,
-1.1614378690719604,
0.8014554381370544,
0.7766844034194946,
1.791008710861206,
4.548404216766357
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.180519104003906,
-0.5780991911888123,
-1.0981018543243408,
0.7567272782325745,
0.7402628064155579,
1.7268999814987183,
3.739410161972046
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.397977828979492,
0.11769837886095047,
-1.1050156354904175,
0.7917826771736145,
0.7594946622848511,
1.6992801427841187,
-5.349582672119141
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.616134235979807,
-3.665975705639511,
-1.210839662007161,
0.7326330452762745,
0.7270585512175098,
1.732762440409175,
0.7658012913962664
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.96827715460465,
-2.148085884094826,
-1.1470119890444899,
0.7681319818121507,
0.7565561950241505,
1.759202241124427,
0.6802831771371769
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.18582839224663456,
0.9823952675680991,
0.01916629580367535,
-238.68650586431363
],
[
-0.9825622486354135,
0.18591361046231097,
-0.002749000070547557,
10.316698285234441
],
[
-0.006263879911900214,
-0.018321236439475003,
0.9998125304794786,
1.743770549330314
],
[
0,
0,
0,
1
]
],
"timestamp": 2116
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006078/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": [
142,
377,
213,
525
],
"bbox_3d": [
14.126268617901111,
5.653867108440813,
-1.0229149852305917,
0.7946733832359314,
0.7611439824104309,
1.7063250541687012,
-7.418956759128031,
0.9608623385429382,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and light-colored 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 pole; side profile facing observer \n4. Relationship with surrounding objects: a fire hydrant to the lower left of the target, a pedestrian crossing in front of the target \n5. Summary: person wearing dark top and light pants with a backpack, moving left in frame, located at left-center of the view, side profile facing observer, partially occluded by a pole, with a fire hydrant to the lower left 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_ucity_small_loop/005696/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005696/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.99614912846223,
-3.409120980696729,
-1.4303391039053037,
4.793455600738525,
1.9937063455581665,
1.6131367683410645,
6.25492954000527
],
"class_other": "Car"
}
],
"pose": [
[
0.9999996551022011,
0.0006347854441687128,
0.0005355771829672196,
-0.020848276766355648
],
[
-0.0006346675876540734,
0.9999997743552713,
-0.00022019641212236177,
-0.012646399232464807
],
[
-0.0005357168395943248,
0.0002198564226983875,
0.9999998323352967,
0.013434806306869653
],
[
0,
0,
0,
1
]
],
"timestamp": 300
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005696/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": [
573,
381,
723,
518
],
"bbox_3d": [
19.568406888452728,
0.1756644260517919,
-1.2066682634268644,
4.733418827371724,
2.035246426086139,
1.8071474624713337,
0.03994540309073062,
0.9903634190559387,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark-colored, with a visible rear window and taillights\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 delivery truck to the right of the target\n5. Summary: A dark-colored SUV in the center-right of the view, rear facing observer, stationary, with a silver car to its left front and a delivery truck 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_ucity_small_loop/001492/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001492/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.648579178663653,
-2.811311727832525,
-1.3452600279263398,
4.6007382497058735,
2.0005753568129223,
1.7519390574841673,
-0.01472449826407404
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.974300779909782,
-6.158348687929771,
-0.9372198913028986,
7.72648621136195,
2.7633629906846036,
2.998722365641371,
-0.0012340715130259644
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.380704879760742,
2.441524028778076,
-1.1321475505828857,
0.7982449531555176,
0.7763717770576477,
1.81516695022583,
-2.089881420135498
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.817121505737305,
7.411265850067139,
-0.9327678084373474,
0.8076283931732178,
0.7746334075927734,
1.8017818927764893,
-2.0815770626068115
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.595569610595703,
4.978952884674072,
-1.0387712717056274,
0.8303391337394714,
0.7837018966674805,
1.7567988634109497,
3.076589822769165
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.879720687866211,
5.987485885620117,
-1.0071197748184204,
0.7678998708724976,
0.7387264966964722,
1.7181764841079712,
-2.5626087188720703
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.335549891214754,
5.269755360281531,
-1.0263073255831738,
0.7912366246226927,
0.7573417992143955,
1.716516267891574,
-2.610843656830079
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.960670805454754,
6.771543918024635,
-0.786931537225704,
0.7979381660501798,
0.773536802584604,
1.8333556863534717,
3.0176743064964553
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.495877094336322,
2.5131564943426454,
-1.1815997425088487,
0.7864700845619786,
0.7654163136857411,
1.7453458156110453,
-2.19481498376592
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999759671999191,
0.006437065494759142,
0.0025747253062431,
-207.29420149574048
],
[
-0.006487943915280589,
0.9997735669376385,
0.020266263507206138,
2.3840874644284336
],
[
-0.0024436870377773346,
-0.020282481125531042,
0.9997913028992871,
1.792122755900722
],
[
0,
0,
0,
1
]
],
"timestamp": 2180
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001492/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": [
751,
367,
939,
433
],
"bbox_3d": [
34.49809278107919,
-5.2685132343749865,
-0.9185561823177316,
4.813723996170703,
2.024656786932861,
1.704233890396819,
0.9557751949677582,
0.9916864037513733,
1
],
"class": "car",
"description": "1. Appearance: SUV, white, with roof rails\n2. Motion state: moving right in frame\n3. Position to viewer: center-right, slightly right of the center of the view, partially occluded by the foreground car; side facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the right of the target\n5. Summary: white SUV with roof rails, moving right in frame, located at the center-right of the view, partially occluded by a foreground car, with a pedestrian to its left front and another 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_ucity_small_loop/001742/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001742/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.517411231994629,
-0.6456153392791748,
-1.2713054418563843,
4.585045337677002,
1.9997409582138062,
1.8001658916473389,
-0.02768683433532715
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.446176528930664,
8.161017417907715,
-0.19123713672161102,
7.459738731384277,
2.7333621978759766,
2.9792253971099854,
-1.5685087442398071
],
"class_other": "Car"
},
{
"bbox_3d_other": [
31.50335941898654,
-14.179733564374073,
-1.3321633313965147,
4.857853051344441,
2.009527744154324,
1.6077962193461737,
1.516241077478096
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.012807187683311,
-3.2785365696616795,
-1.4616297108571528,
4.366770181466824,
1.905145073533156,
1.6415322243147157,
-0.0025760212206078804
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.69212532043457,
-6.295867443084717,
-1.2495933771133423,
0.8180163502693176,
0.7789846062660217,
1.7417607307434082,
-1.3374905586242676
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.33804702758789,
1.578409194946289,
-1.1622185707092285,
0.809160053730011,
0.7783873677253723,
1.7796072959899902,
-3.1320364475250244
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.841967492434524,
3.9191183804529697,
-1.0229013051559503,
0.8071808040106226,
0.7568558935800531,
1.7260477349447734,
3.1203021830851574
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.999945194999799,
0.009981079091788842,
0.003159914077599327,
-7.5731012684522225
],
[
-0.009985272757494614,
0.9999492823667365,
0.001314162169369487,
-0.2745474850715064
],
[
-0.0031466370576840813,
-0.0013456427506666068,
0.9999941439432608,
1.5368191176676667
],
[
0,
0,
0,
1
]
],
"timestamp": 2567
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001742/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": [
810,
393,
1022,
542
],
"bbox_3d": [
16.679453891871077,
-3.339772189764025,
-1.2990017573050536,
4.189698063624158,
1.858713302240364,
1.6458405139497754,
0.04924893301798283,
0.9957840442657471,
1
],
"class": "car",
"description": "1. Appearance: SUV, white, with roof rack \n2. Motion state: stationary \n3. Position to viewer: bottom-right, near the right edge of the view, partially occluded by a white van; side facing observer \n4. Relationship with surrounding objects: a white van to the left of the target, a white car to the left rear of the target \n5. Summary: white SUV with roof rack, parked on the right side of the road, partially occluded by a white van, side facing observer, stationary"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003365/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003365/lidar.bin",
"others": [
{
"bbox_3d_other": [
16.047840118408203,
1.929471492767334,
-1.252018928527832,
4.592319965362549,
1.9989899396896362,
1.7874603271484375,
6.426661491394043
],
"class_other": "Car"
},
{
"bbox_3d_other": [
31.79911231994629,
-2.542461395263672,
-1.0348049402236938,
5.243325710296631,
2.1974172592163086,
2.1127212047576904,
6.308741092681885
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.1311616897583,
-3.633288860321045,
-1.179740309715271,
4.595737934112549,
2.0200932025909424,
1.9264371395111084,
0.03794217109680176
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.51121512929663,
3.43746481127738,
-1.256683487758127,
4.889332773668049,
2.1073697160356177,
1.94247077397701,
-6.122897914216051
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.613318301904144,
-3.068288159148608,
-1.4287802472768503,
4.286263854339271,
1.8729405711419727,
1.5748704288873074,
-6.1796307377981154
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.916231845703237,
7.80684796659537,
-1.0599963390634137,
5.274075572417241,
2.2272547387621593,
2.2611040753508354,
0.05626163067667189
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.904738985177772,
7.370981411214302,
-1.5249545550391748,
4.558375667763627,
1.96037891479932,
1.6386173316605015,
0.014416329558836871
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.419108361224914,
7.098886131556441,
-1.0129080648702553,
5.141175789375828,
2.190836447667858,
2.101607385645174,
-0.015819660757909748
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.062910295252067,
-4.161064090208015,
-1.2973694988779076,
4.827717994470881,
2.0754516516182546,
1.8561946106922256,
0.045662508845056404
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.348021150520907,
-7.859680228656288,
-1.1201904996481664,
0.8457340637948035,
0.7968137893856378,
1.7554393117062324,
-3.153584086609162
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9974688777968909,
-0.0690599419688279,
0.01692814939305129,
-173.6989363222104
],
[
0.0683055764876657,
-0.9967929071664873,
-0.041692306763606295,
178.64088704842595
],
[
0.019753127532089423,
-0.04043049143709639,
0.9989870816556419,
3.994736724053051
],
[
0,
0,
0,
1
]
],
"timestamp": 4036
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003365/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
460,
389,
519,
493
],
"bbox_3d": [
21.782775491684525,
2.831737227087416,
-1.3058409544042462,
0.8327308253265693,
0.7960999114769135,
1.7365594192047384,
-0.18303715277075172,
0.8598912358283997,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: stationary \n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by a tree trunk; back to observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white bus to the right rear of the target \n5. Summary: person wearing dark clothes and a backpack, standing on the sidewalk in the center-left of the view, back to observer, partially blocked by a tree, with a pedestrian to the left and a white bus to the right rear."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006916/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006916/lidar.bin",
"others": [
{
"bbox_3d_other": [
10.8406664468379,
-10.350390547406306,
-1.6626752383659111,
4.538956486837701,
1.9869304131406125,
1.7626399997873823,
-0.12242574937308537
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.873781127294947,
-11.411106114420562,
-1.5808652739238056,
4.540090649297482,
1.995083637679081,
1.7693022241467908,
-0.13703730467862663
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.832215506045983,
-12.462144250585112,
-1.5709120051216292,
4.539719861382656,
1.9944806540155309,
1.7652585971252144,
-0.13510400366928454
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.082555770874023,
5.93929386138916,
-1.10347318649292,
0.8309036493301392,
0.7897945642471313,
1.7676994800567627,
3.0928025245666504
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.14196966507966924,
0.9894576592842875,
0.028603403308438885,
-240.2773750551004
],
[
-0.9898112171961083,
0.14221940821922985,
-0.006884347356887239,
63.90535088327415
],
[
-0.010879729313027761,
-0.0273346009561277,
0.9995671318529058,
2.9403153034723424
],
[
0,
0,
0,
1
]
],
"timestamp": 4793
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006916/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": [
448,
382,
551,
454
],
"bbox_3d": [
32.27502109571585,
3.8503960924377587,
-1.267311211073304,
4.363342295107157,
1.9280010676625399,
1.6699042466795433,
-0.05056110437684769,
0.8253534436225891,
1
],
"class": "car",
"description": "1. Appearance: car, white, with roof rack\n2. Motion state: stationary\n3. Position to viewer: center, slightly left, near the center of the view; side facing observer\n4. Relationship with surrounding objects: a black car to the left front of the target, a white van to the right rear of the target\n5. Summary: white car with roof rack, parked in the center-left of the view, side facing observer, with a black car to its left front and a white van to its right rear."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002663/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002663/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.021987915039062,
3.845329761505127,
-1.3784735202789307,
4.428920745849609,
1.9348825216293335,
1.6553939580917358,
6.28646993637085
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.148258209228516,
4.208403587341309,
-1.3503473997116089,
4.352293014526367,
1.9047032594680786,
1.6554858684539795,
0.005026578903198242
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.934917825853653,
-0.48250746464889005,
-1.301238241711547,
4.628233254155514,
2.009312264575336,
1.785189725244713,
0.012842482503832908
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.29899714136237,
-6.372578460621497,
-1.2809934524767275,
5.065557485086967,
2.1480567315982895,
2.014940095108868,
0.021591150354929756
],
"class_other": "Car"
},
{
"bbox_3d_other": [
1.6344205948070396,
4.327129104607721,
-1.2838366221330955,
4.5399284390777215,
1.9858570318625652,
1.7706276774703968,
-0.010218535834358278
],
"class_other": "Car"
}
],
"pose": [
[
-0.8323117895247031,
-0.5526827490798395,
-0.042413015546383194,
-5.985735025216037
],
[
0.5540746025104716,
-0.8317417491445543,
-0.03474187074439935,
91.7763167678941
],
[
-0.01607544310585285,
-0.052416043340839664,
0.9984959381637172,
3.328780657232822
],
[
0,
0,
0,
1
]
],
"timestamp": 3666
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002663/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,
20,
548,
799
],
"bbox_3d": [
8.537256790288795,
3.2005333190365626,
-0.5236655535772863,
8.853065030884492,
2.930921000580428,
3.3536348444444446,
-0.1519120333626678,
0.8590796589851379,
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_ucity_small_loop/002536/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002536/lidar.bin",
"others": [
{
"bbox_3d_other": [
43.36259140362253,
-5.2612512486710905,
-0.886002399756731,
4.668124397595723,
1.9918552835782368,
1.6222370564937592,
-3.7465048294684027
],
"class_other": "Car"
}
],
"pose": [
[
0.001972601294026932,
-0.9993079179959639,
-0.03714557678522715,
24.11092223278204
],
[
0.9999360699339417,
0.0023846964225177625,
-0.011053020765207634,
47.128636768466954
],
[
0.011133952092517883,
-0.03712139886298513,
0.9992487362300024,
3.1159304546224273
],
[
0,
0,
0,
1
]
],
"timestamp": 3532
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002536/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": [
567,
367,
707,
418
],
"bbox_3d": [
41.86927635379763,
0.475192897882323,
-0.8301637261422741,
4.51804635858023,
1.9632228151444466,
1.6398577472215057,
1.52443968024368,
0.0059586805105209355,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark gray, with a roof rack\n2. Motion state: stationary\n3. Position to viewer: center, slightly right; rear facing observer\n4. Relationship with surrounding objects: a silver sedan to the right front of the target, a white SUV to the left front of the target\n5. Summary: A dark gray SUV with a roof rack, stationary in the center-right of the view, rear facing observer, with a silver sedan to its right front and a white SUV 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_ucity_small_loop/001443/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001443/lidar.bin",
"others": [
{
"bbox_3d_other": [
23.829389572143555,
3.24247670173645,
-1.0631369352340698,
4.578080654144287,
1.9783002138137817,
1.7283998727798462,
6.8589768409729
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.643080711364746,
0.21503210067749023,
-1.201088547706604,
4.634734630584717,
2.008619546890259,
1.8117434978485107,
-6.24046516418457
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.418767660766502,
-3.8479803883304555,
-1.4258890970509075,
4.5181182047402695,
1.9305710921086359,
1.5844433421607484,
-0.008038856976221309
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.246612904890924,
12.460879174874549,
-0.8926363776663191,
4.582499886063135,
1.9869785678519687,
1.7036603806775283,
0.21860582876442058
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.552116815968226,
4.418041951535713,
-1.2626411125914867,
0.7700184812647399,
0.7351182405894149,
1.6437955554963002,
3.463571528229126
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.271521912219738,
3.0428243622982336,
-1.0281278712895565,
0.8031613230705261,
0.7832830548286438,
1.8142223358154297,
0.35881744547716465
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.021591147879227002,
0.9994137391633005,
0.026570666248471653,
-238.769960683355
],
[
-0.9996065597538499,
-0.021104120897726286,
-0.018475437158753105,
29.405290456193455
],
[
-0.017903855180665146,
-0.026959118174830488,
0.9994761917709223,
1.9324758820641894
],
[
0,
0,
0,
1
]
],
"timestamp": 2070
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001443/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": [
1119,
436,
1279,
799
],
"bbox_3d": [
3.302221279348776,
-3.242236964215154,
-1.3525131966625863,
4.68285783497854,
2.023749393027389,
1.7240228334964662,
-0.010077738005492044,
0.6545339822769165,
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_ucity_small_loop/001899/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001899/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.95305061340332,
-4.555241584777832,
-1.0246270895004272,
4.932586669921875,
2.0349466800689697,
1.6567744016647339,
-4.770803928375244
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.652647018432617,
7.729406833648682,
-0.7550430297851562,
5.81174898147583,
2.254112720489502,
2.0279154777526855,
4.715014457702637
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.041920462994327,
-0.44777515284430003,
-1.2822194110426384,
4.7765527788743904,
2.0525660532542656,
1.8394803756207188,
0.003009226757609774
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.874446787093103,
8.403058759851536,
-0.207591524852069,
8.35470715948529,
2.8079255722647827,
3.0831244675210425,
-1.55785864168154
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.702592220532992,
-2.779391278104799,
-1.230768551480413,
0.8324349557994867,
0.789415412018945,
1.7347388619211954,
1.6265422917032943
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.844930152079595,
6.014082898702197,
-0.7813329581794952,
0.9582555338996592,
0.8617995215806347,
1.9063185870614703,
1.607141544436177
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998806723095544,
0.015052691485466271,
0.0034724085066521293,
-4.125673890769463
],
[
-0.015047028293265891,
0.9998854234880282,
-0.0016513133283445295,
-0.3732841348421558
],
[
-0.0034968673602747045,
0.0015988668518934844,
0.9999926077444047,
1.5439104154178727
],
[
0,
0,
0,
1
]
],
"timestamp": 2716
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001899/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": [
224,
401,
395,
511
],
"bbox_3d": [
21.82906380815797,
5.980431436529917,
-1.5090239672864325,
4.503581557117525,
1.946595877897544,
1.6344462491449763,
-0.00355930094442769,
0.9897947907447815,
1
],
"class": "car",
"description": "1. Appearance: car, silver, with visible rear lights and rear window\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by the Amazon van on the left; rear facing observer\n4. Relationship with surrounding objects: a white van to the left front of the target, a white car to the right front of the target\n5. Summary: silver car, rear facing observer, stationary, located in the center-left of the view, partially occluded by a white van on the left, with a white 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_ucity_small_loop/000866/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000866/lidar.bin",
"others": [
{
"bbox_3d_other": [
21.954500198364258,
-4.463013648986816,
-1.437939167022705,
4.285345077514648,
1.869789958000183,
1.5690025091171265,
6.329241752624512
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.451292037963867,
-4.445227146148682,
-1.2141057252883911,
4.599819660186768,
2.018991231918335,
1.9182161092758179,
6.2673797607421875
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.996858596801758,
-4.459622383117676,
-1.3008675575256348,
4.155789852142334,
1.8528883457183838,
1.647495150566101,
-0.01214909553527832
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.083404541015625,
-4.430160999298096,
-1.0768170356750488,
5.049017906188965,
2.135043144226074,
1.986892819404602,
-0.04209470748901367
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.940772533416748,
3.0307259559631348,
-1.0823944807052612,
4.843038082122803,
2.101895332336426,
1.9821112155914307,
0.06317782402038574
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.85027077264141,
6.074440303303362,
-1.0951577795897318,
5.138502988128825,
2.1857132930027516,
2.155163624083264,
-0.01678061133469333
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.3551162247821367,
-4.585581297378525,
-1.2810876419683161,
4.907400109956035,
2.105506735271319,
1.9216541441574209,
-0.02049901762470796
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.90814763801103,
6.162228783776641,
-1.3854111695780613,
4.568968748180889,
1.9889505381601893,
1.7345602986759974,
-0.02530321669565261
],
"class_other": "Car"
}
],
"pose": [
[
-0.9997069537208129,
-0.013452923033932477,
0.02012524643564933,
-173.8252373820686
],
[
0.01257176271048438,
-0.9989835577656788,
-0.04328743577734769,
177.96412989357356
],
[
0.020687132827044964,
-0.04302174073267858,
0.9988599363072516,
3.669198040434066
],
[
0,
0,
0,
1
]
],
"timestamp": 1253
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000866/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,
357,
236,
500
],
"bbox_3d": [
19.937069582545945,
9.580376302324794,
-0.9441600716945544,
5.370075755432004,
2.212511112455462,
2.143138714501115,
1.0020021482473376,
0.9977184534072876,
1
],
"class": "car",
"description": "1. Appearance: pickup truck, white, with a roof rack and a rear cargo box\n2. Motion state: stationary\n3. Position to viewer: top-left, slightly left, near the left edge of the view; rear facing observer; cannot clearly determine\n4. Relationship with surrounding objects: a black car to the right front of the target, a pedestrian to the right of the target\n5. Summary: white pickup truck with a roof rack and rear cargo box, located at the top-left of the view, rear facing observer, stationary, with a black car to its right front 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_ucity_small_loop/001180/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001180/lidar.bin",
"others": [
{
"bbox_3d_other": [
15.803022391684081,
3.4889887440882035,
-1.569916048336541,
4.660242203956783,
1.9705218752170246,
1.6127241268480113,
1.0125655821306934
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.29869741063112,
-13.8813130742584,
-2.138762313681827,
4.676159661249851,
2.0179386441923564,
1.6873387416717054,
5.623738369272768
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.034273147583008,
7.168851375579834,
-1.0802550315856934,
0.8654444813728333,
0.8178010582923889,
1.8394278287887573,
-2.2509171962738037
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.749108404835653,
-3.1214980849683798,
-1.506458076536319,
0.8857484383582533,
0.8364537551843853,
1.807307875399542,
4.163316366265998
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.04928057140279,
2.4861099928743897,
-1.2134336639183232,
0.8852593418477414,
0.8337648484665661,
1.8584400502342733,
-0.36092198755179217
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.8293774278321568,
0.5559181199879241,
0.055570910300332274,
-235.9293961564949
],
[
-0.5586845381982214,
-0.8256429816501043,
-0.07864638345255029,
171.99568679192572
],
[
0.0021607824405856964,
-0.09627414357457359,
0.995352510570113,
4.912551062872899
],
[
0,
0,
0,
1
]
],
"timestamp": 1862
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001180/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": [
672,
336,
985,
423
],
"bbox_3d": [
52.88499668820921,
-7.4153789805510435,
-0.5512445419053523,
12.961722440588964,
3.087195829768159,
3.4961971327594425,
4.607845810283662,
0.9515112042427063,
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_ucity_small_loop/003481/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003481/lidar.bin",
"others": [
{
"bbox_3d_other": [
13.909677505493164,
-0.9786131381988525,
-1.2264556884765625,
4.62051248550415,
2.0079801082611084,
1.8111623525619507,
-0.0985645055770874
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.86553955078125,
2.14672589302063,
-0.9469084143638611,
5.633086204528809,
2.2806618213653564,
2.238656997680664,
-0.14166617393493652
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.32752269056499,
-5.712048525091916,
-1.340267188209781,
4.532264011256444,
1.9653344887281043,
1.6669487728689942,
6.1122381583005625
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.955124910540263,
3.4316708998484273,
-1.029395560947254,
5.7343749319571415,
2.3093367447031543,
2.2731670490341176,
6.095833336382263
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.659087892066026,
-8.295112518159556,
-1.4226197914096304,
4.464801169023662,
1.9512370128550067,
1.653497564698606,
6.1134288519517055
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.8541445306264,
-7.403105257368225,
-1.1665851799115927,
5.53105169473153,
2.2850577637285805,
2.304477212725849,
6.165037883367718
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.764395582971986,
4.326739263986809,
-1.4695313894596396,
4.508610111560928,
1.9346373170357791,
1.592007827821654,
6.170629293232906
],
"class_other": "Car"
}
],
"pose": [
[
-0.9943846434613162,
0.10369233774976061,
0.021144264950593874,
-188.75239997856747
],
[
-0.10485725343118965,
-0.9923887112277718,
-0.06457245721319303,
177.6812221450959
],
[
0.01428766080149602,
-0.06642698939190268,
0.9976889885275619,
4.2489976799614775
],
[
0,
0,
0,
1
]
],
"timestamp": 4065
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003481/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": [
560,
392,
915,
718
],
"bbox_3d": [
9.676037586212535,
-0.516858396805743,
-1.246260886275563,
4.727038383483887,
2.0393807888031006,
1.8303875923156738,
6.260840476085422,
0.9989017844200134,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark-colored, with visible rear lights and a license plate\n2. Motion state: stationary\n3. Position to viewer: bottom-center, slightly right, rear of the vehicle facing observer; the vehicle is partially occluded by the green bounding box and appears slightly blurred\n4. Relationship with surrounding objects: a white bus to the left front of the target, a pedestrian to the left of the target, a white car to the right of the target\n5. Summary: dark-colored SUV at the bottom-center of the view, rear facing observer, stationary, with a white bus to its left front and a pedestrian to its left, partially occluded and slightly blurred"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002242/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002242/lidar.bin",
"others": [
{
"bbox_3d_other": [
26.19863510131836,
2.510866165161133,
-0.25525516271591187,
8.234115600585938,
2.80238938331604,
3.00631046295166,
5.058075904846191
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.1359638517380493,
-3.2039083520445835,
-1.329189034208127,
4.678233367469642,
2.018604260192367,
1.7044881578995428,
-0.009377540421555005
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.1815028563515,
-5.890959633961748,
-1.409498638457252,
4.61221537613978,
1.9943530655508634,
1.671498435225426,
0.01725174433141915
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.76344108581543,
1.2181243896484375,
-1.1852142810821533,
0.8118062615394592,
0.7678058743476868,
1.6672747135162354,
-2.0035691261291504
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.999884147895838,
0.014803652955508891,
0.003541559795748337,
-4.13669173377874
],
[
-0.014797590271009572,
0.9998890096035445,
-0.0017319919786717263,
-0.37100561435473856
],
[
-0.003566806524796518,
0.0016793847729788412,
0.9999922287488033,
1.543688408118451
],
[
0,
0,
0,
1
]
],
"timestamp": 2900
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002242/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": [
844,
376,
978,
493
],
"bbox_3d": [
21.12575180340093,
-4.230832624322353,
-1.1208971984259568,
4.613898801021889,
1.9812915432648581,
1.7390561445814665,
-0.13672766104087497,
0.9935595989227295,
1
],
"class": "car",
"description": "1. Appearance: SUV, light-colored (possibly silver or light gray), rear view visible, with visible taillights and rear window.\n2. Motion state: stationary\n3. Position to viewer: center-right, slightly right of the center of the view, near the right edge of the road; rear facing observer\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, a pedestrian to the left of the target\n5. Summary: A light-colored SUV, rear facing observer, stationary in the center-right of the road, with a black car to its left front and a pedestrian to its left."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001526/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001526/lidar.bin",
"others": [
{
"bbox_3d_other": [
30.078842163085938,
12.795989990234375,
0.12255563586950302,
4.835090160369873,
2.0637130737304688,
1.8125858306884766,
-9.166017532348633
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.62657642364502,
6.518624305725098,
-0.7043505311012268,
0.7849605679512024,
0.7535290122032166,
1.7604894638061523,
3.140629291534424
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
4.979396343231201,
2.4810755252838135,
-1.1091278791427612,
0.7611064910888672,
0.7465039491653442,
1.7608171701431274,
3.4934611320495605
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
6.183757560462084,
2.097876751911948,
-1.0828847662395646,
0.7876985322256558,
0.765432421301232,
1.7890902879785318,
-2.4881496067428728
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.035972030484146,
4.662655164142258,
-1.085553057299883,
0.7726189508789876,
0.731342728020715,
1.6646690788816234,
0.3537796917647592
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
3.5093578920110815,
1.9822483003126719,
-1.2091070318940433,
0.7382283213197208,
0.7240455316715553,
1.7070016299114854,
-2.608328970144957
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9997763037589683,
-0.005955456714103273,
0.02029470318536027,
-196.99957294956144
],
[
0.005704625939998636,
0.9999069065095091,
0.012394981140319491,
2.3973010256079483
],
[
-0.020366631654255566,
-0.012276434739394961,
0.9997172047459969,
1.854644665828373
],
[
0,
0,
0,
1
]
],
"timestamp": 2204
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001526/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": [
1123,
432,
1279,
799
],
"bbox_3d": [
3.293572879863862,
-3.2767325925697213,
-1.325593469512397,
4.663576602935791,
2.017369031906128,
1.7110344171524048,
6.287130169490423,
0.740049421787262,
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_ucity_small_loop/001841/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001841/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.89708709716797,
8.72232437133789,
-0.18737924098968506,
8.407594680786133,
2.805082321166992,
3.0846259593963623,
4.721832275390625
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.459928749035836,
-4.009361521506328,
-1.350782844159948,
4.610396891756336,
1.995175988045614,
1.6754510591076768,
-0.21292979712231302
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.042633927227547,
-0.4525762889191653,
-1.2757369225006925,
4.775605048030994,
2.049754765669041,
1.8318513031493973,
0.00042143045761448145
],
"class_other": "Car"
},
{
"bbox_3d_other": [
27.353271710094575,
-6.5935695177150135,
-1.1973894806006204,
4.765976931915201,
1.976506210352913,
1.5675512895708168,
1.4551254913783889
],
"class_other": "Car"
},
{
"bbox_3d_other": [
37.431415196873864,
19.84598674602607,
-0.13500807277590243,
4.630793917007815,
1.9938528827449113,
1.636509717675288,
3.104880643307613
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.79097843170166,
-7.9019455909729,
-1.1723471879959106,
0.8793969750404358,
0.8267464637756348,
1.8563508987426758,
-4.89093017578125
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998798830460248,
0.014991722093421093,
0.003932905864810906,
-4.12669221871867
],
[
-0.014985173594283384,
0.9998862890006668,
-0.0016892722765419243,
-0.3709553630102381
],
[
-0.003957783750664771,
0.0016301340891874648,
0.9999908392633576,
1.5434754431947466
],
[
0,
0,
0,
1
]
],
"timestamp": 2631
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001841/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": [
917,
367,
1067,
422
],
"bbox_3d": [
39.99410181832607,
-10.997636758004674,
-0.9482658604829541,
4.844921615516582,
2.0396547633971123,
1.7340967436015218,
1.3895064884108939,
0.9890059232711792,
1
],
"class": "car",
"description": "1. Appearance: SUV, white, with visible wheels and side windows\n2. Motion state: moving right in frame\n3. Position to viewer: center-right, slightly right of the center of the view, partially occluded by the green bounding box; side facing observer\n4. Relationship with surrounding objects: a white sedan to the left front of the target, a dark SUV to the right front of the target\n5. Summary: white SUV, side facing observer, moving right in frame, located in the center-right of the view, with a white sedan to its left front and a dark SUV 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_ucity_small_loop/001736/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001736/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.861425399780273,
-0.8146764039993286,
-1.154772400856018,
4.562943935394287,
1.9863804578781128,
1.7793960571289062,
6.245140552520752
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.297040942843186,
-3.4051909278819363,
-1.3844007252299115,
4.3060762876142284,
1.8849328266534822,
1.6165293778959124,
-0.005455370597251471
],
"class_other": "Car"
},
{
"bbox_3d_other": [
37.015350302311006,
9.376714650576545,
-0.010861074949917837,
7.608013940987824,
2.7374276824830086,
2.997806531438222,
-1.5688455514215949
],
"class_other": "Car"
},
{
"bbox_3d_other": [
40.63000495958932,
17.3408183870276,
0.386465060527738,
5.077456181038154,
2.1494474631146834,
1.9371228033388164,
1.5694931236211407
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.976316833574844,
-3.287603172363389,
-1.352328767601678,
4.860848885138131,
2.0662668667769855,
1.7977166018625352,
0.0094564017746754
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.639345169067383,
1.3073067665100098,
-0.9765295386314392,
0.835918128490448,
0.7902258038520813,
1.7836942672729492,
2.975996255874634
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.55196564113441,
3.2950543465977566,
-0.8992949774905006,
0.8391236267621625,
0.7880725926935012,
1.7821444187077173,
3.0541593597073518
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
13.141670191579902,
2.3307393087085564,
-0.9336090680782271,
0.8528605324442632,
0.8045044008933935,
1.7927852465461191,
2.9376238301141706
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999409410187363,
0.006142567691622679,
0.00896567547471006,
-15.796806824324692
],
[
-0.006219707155971187,
0.9999436632007652,
0.008601492168713662,
-0.10269263855180254
],
[
-0.008912335129355553,
-0.008656748049256998,
0.9999228125189232,
1.5364099674734408
],
[
0,
0,
0,
1
]
],
"timestamp": 2543
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001736/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": [
1152,
379,
1279,
443
],
"bbox_3d": [
30.238771164490288,
-15.388778910538687,
-1.2501329918979232,
4.439691298987502,
1.923323143632828,
1.5940597486824655,
0.8730427568520427,
0.9545773267745972,
1
],
"class": "car",
"description": "1. Appearance: car, silver, with visible wheels and side profile \n2. Motion state: moving right in frame \n3. Position to viewer: bottom-right, near the right edge of the view; side facing observer, rear facing observer \n4. Relationship with surrounding objects: a white car to the left front of the target, a building to the left of the target \n5. Summary: silver car, side and rear facing observer, moving right in frame, located at bottom-right near the right edge, with a white car to its left front and a building 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_ucity_small_loop/002418/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002418/lidar.bin",
"others": [
{
"bbox_3d_other": [
34.56159210205078,
-12.000869750976562,
-1.1621898412704468,
4.622878551483154,
1.9561419486999512,
1.610901117324829,
6.994471549987793
],
"class_other": "Car"
}
],
"pose": [
[
-0.08379971509651474,
-0.9960012105846712,
-0.030970893813591138,
24.311953517034613
],
[
0.9964241046842117,
-0.08341750279557536,
-0.013435915734239525,
36.56764862322095
],
[
0.010798673715339489,
-0.03198607105006739,
0.9994299774895538,
2.910798736045172
],
[
0,
0,
0,
1
]
],
"timestamp": 3193
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002418/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": [
555,
377,
736,
475
],
"bbox_3d": [
22.905211399404774,
0.012722567557851505,
-1.031477866746975,
4.493534354439496,
1.919964475038922,
1.5572218210404445,
-3.466283860394002,
0.945399284362793,
1
],
"class": "car",
"description": "1. Appearance: car, silver, compact sedan\n2. Motion state: moving toward camera\n3. Position to viewer: center, slightly right, near the center of the view; front facing observer\n4. Relationship with surrounding objects: a white car to the right of the target, a pedestrian to the left front of the target\n5. Summary: silver compact sedan in the center of the view, moving toward the camera, with a white 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_ucity_small_loop/002496/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002496/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.040082931518555,
-5.094507217407227,
-1.021367073059082,
4.592928409576416,
1.983950138092041,
1.7743217945098877,
6.123344898223877
],
"class_other": "Car"
}
],
"pose": [
[
0.0020281767276191243,
-0.9993089140260714,
-0.0371157762574815,
24.11379920464914
],
[
0.9999355251768933,
0.0024413424724832877,
-0.011089875388950496,
47.129320535377744
],
[
0.011172823652593155,
-0.03709089099719677,
0.9992494352345975,
3.116270011584555
],
[
0,
0,
0,
1
]
],
"timestamp": 3439
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002496/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": [
1220,
404,
1279,
565
],
"bbox_3d": [
13.40729784599657,
-7.167689898363211,
-1.4766467699160117,
0.8163965375608584,
0.7908081888825019,
1.8177987668359372,
-3.9816344184136585,
0.3,
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_ucity_small_loop/006739/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006739/lidar.bin",
"others": [
{
"bbox_3d_other": [
36.54414749145508,
-7.646196365356445,
-1.3732352256774902,
4.674935340881348,
1.9970051050186157,
1.6714359521865845,
-7.64665412902832
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.296357595133053,
3.396483179353069,
-1.4550561861709777,
4.72542865714309,
2.0377603118482948,
1.7693632962400558,
0.42368854623544916
],
"class_other": "Car"
},
{
"bbox_3d_other": [
39.420711293675524,
-7.1267339966318275,
-0.590026391047608,
5.0408877280610636,
2.105057252766684,
1.7734954576152742,
-4.441562348087307
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.520095825195312,
-7.026444435119629,
-1.5019878149032593,
0.8579552173614502,
0.8190536499023438,
1.799673318862915,
-9.752583503723145
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.6321759749190458,
-0.7731673170862998,
-0.050654086949888044,
18.884128462216566
],
[
0.7747641094273194,
-0.6315926805558795,
-0.028831590513377057,
72.48113521266914
],
[
-0.00970110707323183,
-0.05747160740584488,
0.9983000064428237,
3.8179629721531674
],
[
0,
0,
0,
1
]
],
"timestamp": 3623
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006739/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
482,
393,
852,
731
],
"bbox_3d": [
9.471551926131951,
-0.0850439399383971,
-1.2558390462520985,
4.7372622995999505,
2.052996209893011,
1.8554823693936378,
-0.013387110658938273,
0.9980590343475342,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark-colored, with visible rear lights and a license plate\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the center of the view; rear facing observer, side facing observer; the vehicle is fully visible and not truncated or occluded\n4. Relationship with surrounding objects: a white pickup truck to the left front of the target, a gray car to the right front of the target\n5. Summary: A dark-colored SUV, rear facing observer, located in the center-right of the view, with a white pickup truck to its left front and a gray 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_ucity_small_loop/003631/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003631/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.471385955810547,
2.7912466526031494,
-0.9319707751274109,
6.182769298553467,
2.4892430305480957,
2.5763609409332275,
6.2246198654174805
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.538564130955876,
-3.872175797879379,
-1.4356911152990364,
4.443828781989871,
1.9429642411152404,
1.6972741001910419,
6.227751275853931
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.470069501808013,
3.625793157474078,
-1.5886906396581644,
4.3304127055452835,
1.900814827737869,
1.582711630216023,
6.238696669781236
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.371273584215686,
-6.68114792565072,
-1.4750610312072698,
4.5477510463294,
1.9751941864202895,
1.6973225296858856,
6.213332295449373
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.558691363227439,
3.813593603169039,
-1.0306827741809634,
5.6882017597373125,
2.2947086324594395,
2.251902516636331,
6.2124774125512525
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.45397791806883,
-4.102771521826327,
-1.3283308508959735,
4.717431369750879,
2.0273602602762915,
1.7589555010007794,
6.1820898254341135
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.2007168786703915,
4.326323496545854,
-1.2420305596603178,
4.849103383978512,
2.08124357673093,
1.838334148900188,
6.159285275146859
],
"class_other": "Car"
}
],
"pose": [
[
-0.9992937772474265,
0.02801712244604728,
0.025039720533861803,
-198.694133871491
],
[
-0.029314374584256737,
-0.9981621644379864,
-0.053037354074351166,
177.31042373445788
],
[
0.023507747601686328,
-0.0537339216353823,
0.9982785440288586,
4.483472622473921
],
[
0,
0,
0,
1
]
],
"timestamp": 4108
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003631/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,
458,
380,
799
],
"bbox_3d": [
6.737107592229641,
3.2849131432162153,
-1.5552103835052375,
4.55387258718742,
1.946293076776107,
1.5742261308764047,
-0.13889393913362746,
0.6743139624595642,
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_ucity_small_loop/002501/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002501/lidar.bin",
"others": [
{
"bbox_3d_other": [
34.754486083984375,
-10.309263229370117,
-1.0447603464126587,
4.571215629577637,
1.9700058698654175,
1.7025460004806519,
-6.794684410095215
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.507282683600394,
-1.800732907356437,
-1.0261134814311013,
4.616486639491627,
1.965532098976025,
1.6017710147502846,
-3.4682493915864496
],
"class_other": "Car"
},
{
"bbox_3d_other": [
45.86805113132887,
-7.189095340652173,
-0.8332435611005162,
4.448853174845378,
1.9477902750174205,
1.6200778583685558,
-3.935922360388891
],
"class_other": "Car"
}
],
"pose": [
[
0.0019440907594096002,
-0.9993084063103592,
-0.03713394119358994,
24.115095824837724
],
[
0.9999376665002988,
0.0023509109014399066,
-0.01091495908698925,
47.12794276236796
],
[
0.010994708957327442,
-0.037110406833977296,
0.9992506863042727,
3.1150041767894256
],
[
0,
0,
0,
1
]
],
"timestamp": 3459
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002501/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": [
900,
396,
960,
537
],
"bbox_3d": [
15.557914638326992,
-3.4341559992948305,
-1.3207734290030253,
0.7387207913608226,
0.7313134347725321,
1.7173171019326372,
-0.19655758369765408,
0.7319064736366272,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing light-colored top and dark pants, with a backpack \n2. Motion state: moving right in frame \n3. Position to viewer: right-center, slightly right of the center of the view, partially occluded by a pedestrian to the left; 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 light top and dark pants with a backpack, moving right in frame, located at the right-center of the view, side profile facing observer, with 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_ucity_small_loop/006999/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006999/lidar.bin",
"others": [
{
"bbox_3d_other": [
24.12010179459285,
1.2522848335702577,
-1.1365274052691783,
4.62312050841823,
2.019648577699472,
1.8835793330866033,
0.08351062469172876
],
"class_other": "Car"
},
{
"bbox_3d_other": [
42.613587826439684,
-1.9225133531599,
-1.0089305037540723,
4.861987173203387,
2.0659117349604985,
1.7969620052755413,
1.8950160663513178
],
"class_other": "Car"
},
{
"bbox_3d_other": [
30.7142586651242,
-0.07794718206429252,
-1.1750721499425258,
4.547921227388536,
1.9977807495081261,
1.7691098584975484,
-0.12028413161514484
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.699569702148438,
-2.6789700984954834,
-1.2752472162246704,
0.8235090374946594,
0.780979573726654,
1.7304716110229492,
3.392556667327881
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.093791961669922,
-6.986339092254639,
-1.2701916694641113,
0.7500937581062317,
0.7433906197547913,
1.828885793685913,
1.643365502357483
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.22227668762207,
-4.433726787567139,
-1.278403401374817,
0.7602063417434692,
0.7559964060783386,
1.77828848361969,
-3.236349582672119
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.190669884395291,
-0.805637076286132,
-1.2277624649753283,
0.8022937114616043,
0.778285148946241,
1.751610603513201,
3.0725191467277138
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.948291479439156,
-0.5135615469386039,
-1.152925950232432,
0.8320228917191305,
0.7908604388822491,
1.7982207061062219,
-1.7504030418388372
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.31700903502692,
-5.592239173333724,
-1.2501299154280099,
0.7257887380335687,
0.7275647485460853,
1.792399830911437,
-0.10659579227047256
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.30253932446755305,
0.9530938557716809,
0.00905865558385651,
-238.4705801427819
],
[
-0.9531243999206985,
0.3024730101753069,
0.00799727399162227,
9.020652749842693
],
[
0.004882153881747421,
-0.011053515538458854,
0.9999269895185927,
2.315588244342688
],
[
0,
0,
0,
1
]
],
"timestamp": 4883
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006999/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
0,
406,
47,
615
],
"bbox_3d": [
9.166928715193109,
5.4121875510343465,
-1.2122405815902357,
0.7818151366326117,
0.7433762313217245,
1.6507265503688526,
0.3673647455076594,
0.3,
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_ucity_small_loop/005871/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005871/lidar.bin",
"others": [
{
"bbox_3d_other": [
25.989572525024414,
11.541749000549316,
-1.1770776510238647,
4.589919567108154,
1.950596809387207,
1.5773299932479858,
4.68692684173584
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.223379135131836,
1.6266931295394897,
-1.2452025413513184,
0.8454552292823792,
0.8002387881278992,
1.7466727495193481,
-8.572225570678711
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9962010200942459,
0.08492495308421685,
0.019268624933493232,
-222.32139231935798
],
[
-0.08634298739595692,
-0.992041112016991,
-0.09164780736948389,
174.4074522237208
],
[
0.011332082364936182,
-0.0929633498306508,
0.9956050419205091,
4.720513602544224
],
[
0,
0,
0,
1
]
],
"timestamp": 1606
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005871/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": [
248,
342,
319,
465
],
"bbox_3d": [
19.24353037686778,
5.82010413699764,
-0.590063171871293,
0.8144078083343259,
0.778829223877888,
1.8805776702512649,
1.0268267167848044,
0.8984736204147339,
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; 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, standing on the left side of the sidewalk, side profile facing observer, near a pedestrian and a white car on the right"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/007509/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/007509/lidar.bin",
"others": [
{
"bbox_3d_other": [
13.042758896422484,
2.740770718386411,
-0.9717347169822315,
0.8484477185409675,
0.7982003407801209,
1.8602956300719602,
0.015476175492478449
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998551102203755,
0.016763755933532846,
-0.0029555123417129214,
-69.76429304254418
],
[
-0.016704996881461952,
0.9996818951076042,
0.018895810997671077,
0.9014302826944554
],
[
0.00327133694250861,
-0.018843701363328358,
0.9998170899087185,
2.2589426028346127
],
[
0,
0,
0,
1
]
],
"timestamp": 5960
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/007509/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": [
1126,
424,
1279,
667
],
"bbox_3d": [
10.18329128183209,
-5.906281404148538,
-1.5320309424676875,
4.4541947087261,
1.9290358405187213,
1.5688592431036215,
0.009084857785202599,
0.7884984016418457,
1
],
"class": "car",
"description": "1. Appearance: car, white, with visible side profile and front wheel\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 pedestrian to the left front of the target, a dark car to the left of the target\n5. Summary: white car, side facing observer, stationary, located at the bottom-right of the view, near the right edge, with a pedestrian and a dark 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_ucity_small_loop/002374/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002374/lidar.bin",
"others": [
{
"bbox_3d_other": [
13.918988272620261,
-0.5441273153461963,
-1.204354033663243,
4.609005044271465,
1.9940571677907255,
1.7908274779089004,
-0.0008552492821150247
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.4424939364000426,
-3.1208614695438124,
-1.3450685794091204,
4.6198604332992765,
1.9973680702500813,
1.6793382823492229,
-0.0617846852798819
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.135450673073798,
14.034341620512446,
-0.6525508438207439,
4.61926191016419,
1.9841809701621291,
1.697929728390298,
-1.5290914979953787
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.425276756286621,
5.545290470123291,
-0.8821915984153748,
0.8535445332527161,
0.7990171909332275,
1.7838621139526367,
4.769632816314697
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.341972184172946,
3.042359811030468,
-1.0562640356479251,
0.8090055952986008,
0.7649855751808281,
1.74272406426053,
-0.02412812901445544
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998833096732882,
0.014819223233642962,
0.0037091319123184366,
-4.14623222053758
],
[
-0.01481282891761198,
0.999888760450937,
-0.0017455152094827562,
-0.37060247772220895
],
[
-0.0037345864897041386,
0.0016903687882926532,
0.9999915977232562,
1.5432704626387492
],
[
0,
0,
0,
1
]
],
"timestamp": 3060
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002374/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": [
775,
397,
940,
493
],
"bbox_3d": [
25.946049743609066,
-4.3401460262737785,
-1.5958523468179657,
4.652114309489059,
2.0050827526280326,
1.6868366911705135,
-3.6471868609851734,
0.9665136933326721,
1
],
"class": "car",
"description": "1. Appearance: SUV, silver, with roof rack\n2. Motion state: moving toward camera\n3. Position to viewer: center-right, slightly right, near the right edge of the view; side facing observer, front facing observer\n4. Relationship with surrounding objects: a white van to the right of the target, a black car to the left front of the target\n5. Summary: silver SUV with roof rack, moving toward camera, located at center-right of the view, side and front facing observer, with a white van to its right and a black car 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_ucity_small_loop/000288/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000288/lidar.bin",
"others": [
{
"bbox_3d_other": [
7.939923534295346,
2.6595098570246734,
-1.6128699140283733,
4.839737474099542,
2.033537145401829,
1.6800548878377153,
-3.389775386921505
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.189144691702182,
-4.628377550738655,
-1.2564022941836708,
5.554988776960712,
2.3001734201188926,
2.2794167880994496,
-0.11618919114245752
],
"class_other": "Car"
}
],
"pose": [
[
0.08426662440278027,
-0.9962861976685221,
-0.017690346151477257,
25.399162292385004
],
[
0.995290359709342,
0.08500962970467058,
-0.04658822519825635,
61.78010978514098
],
[
0.047919055514580186,
-0.013681198510112961,
0.9987575225878988,
2.256008238045622
],
[
0,
0,
0,
1
]
],
"timestamp": 840
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000288/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,
432,
369,
690
],
"bbox_3d": [
10.537594614771933,
3.987394609583637,
-1.548204665834687,
4.373851854563049,
1.9071892985806853,
1.602616608425868,
6.241796120767763,
0.9950527548789978,
1
],
"class": "car",
"description": "1. Appearance: car, dark gray, with visible side mirror\n2. Motion state: stationary\n3. Position to viewer: left-center, slightly left, near the left edge of the view; side facing observer\n4. Relationship with surrounding objects: a white utility truck to the right front of the target, a white car to the left front of the target\n5. Summary: dark gray car parked on the left side of the road, with a white utility truck to its right front and a white car to its left front, side facing observer, stationary"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004264/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004264/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.96911334991455,
-0.4120614230632782,
-1.3188925981521606,
4.73817253112793,
2.0555741786956787,
1.86257004737854,
6.235150337219238
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.50428979883654,
3.264311646338001,
-1.0559189482215068,
6.042713988499342,
2.457315846292815,
2.6276153240900375,
2.380697733456202
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.401834052661627,
3.942288219325121,
-1.178603787797961,
4.713816684871847,
2.0514794557777334,
1.8671216105924067,
6.226310597924221
],
"class_other": "Car"
},
{
"bbox_3d_other": [
39.249996733066155,
-5.13566156866321,
-1.5846319928572257,
4.523603487620738,
1.9750597646667878,
1.6685285232709461,
2.3144800817359545
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.49286349424372,
-9.322395012624128,
-1.2529689768127685,
0.7828454836958745,
0.773088482315423,
1.8771120632281069,
2.327138122339339
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9994855049939189,
0.013699716501056322,
0.02900074266017243,
-206.5829769892963
],
[
-0.015213817493949181,
-0.9984971789904586,
-0.05264905797216789,
177.24918789582014
],
[
0.02823588256654404,
-0.05306318230078719,
0.9981918821648478,
4.671920708570774
],
[
0,
0,
0,
1
]
],
"timestamp": 4556
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004264/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": [
339,
401,
490,
504
],
"bbox_3d": [
23.455921290703326,
4.367641057555602,
-1.5407242692435963,
4.443637668109331,
1.928742364293239,
1.628204879213552,
-0.03310120613757528,
0.9954686760902405,
1
],
"class": "car",
"description": "1. Appearance: car, white, with a visible rear window and side mirror\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by a silver SUV to its left; rear facing observer\n4. Relationship with surrounding objects: a silver SUV to the left front of the target, a black car to the right front of the target\n5. Summary: white car parked in the center-left of the view, rear facing observer, partially occluded by a silver SUV to its left, with 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_ucity_small_loop/004470/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004470/lidar.bin",
"others": [
{
"bbox_3d_other": [
16.84449577331543,
4.418893337249756,
-1.3945157527923584,
4.772313594818115,
2.0534162521362305,
1.8548779487609863,
6.255152702331543
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.974102020263672,
-6.536928653717041,
-1.344202995300293,
4.406360149383545,
1.9186965227127075,
1.668198823928833,
6.245641231536865
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.662542374956402,
-6.729640988907789,
-0.9597089356315478,
5.473849290707072,
2.259901726832155,
2.3463783498670234,
-0.01165078624259075
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.6276659057241,
4.568725626552663,
-1.5946664783260753,
4.553472632380035,
1.976702953635269,
1.666010823032523,
-0.01816548913465521
],
"class_other": "Car"
}
],
"pose": [
[
-0.008767109306770882,
0.9998997671400259,
-0.011117259901855614,
-241.09286059421615
],
[
-0.9998067296182905,
-0.008960851303707551,
-0.017498758638585774,
125.22623740010714
],
[
-0.017596624800846627,
0.010961697735073536,
0.9997850768932208,
3.8967622717116246
],
[
0,
0,
0,
1
]
],
"timestamp": 4704
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004470/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": [
277,
356,
338,
465
],
"bbox_3d": [
21.46982860906448,
6.028858646747954,
-0.7803864294625067,
0.8258585180145229,
0.7962709576036475,
1.8576451978728337,
2.9766381762541516,
0.635981559753418,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and light-colored bottom, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: left-center, near the left edge of the view, partially occluded by a tree trunk; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a street lamp to the left of the target \n5. Summary: person wearing dark top and light-colored bottom with a backpack, moving left in frame, located at left-center near the left edge of the view, partially occluded by a tree trunk, side profile facing observer, with a pedestrian to the right front and a street lamp 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_ucity_small_loop/007020/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/007020/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.221757579688614,
-6.882306936069173,
-0.9762967764919965,
7.720288930003969,
2.7852169880084072,
3.043900435316181,
-0.02970533312999374
],
"class_other": "Car"
}
],
"pose": [
[
0.9999611121288021,
-0.0087705364153807,
0.0009229957290898343,
-207.17450657255924
],
[
0.008743789411787778,
0.9996284606654188,
0.025816405141067384,
3.2858133172234565
],
[
-0.00114907652127478,
-0.025807330715746323,
0.9996662749660391,
2.4574568436825994
],
[
0,
0,
0,
1
]
],
"timestamp": 4943
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/007020/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": [
1120,
445,
1279,
799
],
"bbox_3d": [
3.2513353872143975,
-3.205088862994415,
-1.3872194245277147,
4.640653243379341,
2.011377785417584,
1.7031471307406083,
-0.01646816522483364,
0.4720861613750458,
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_ucity_small_loop/001905/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001905/lidar.bin",
"others": [
{
"bbox_3d_other": [
29.30745506286621,
-0.1167180985212326,
-0.36088404059410095,
5.996614456176758,
2.384164810180664,
2.3101727962493896,
1.4764541387557983
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.879323959350586,
8.247599601745605,
-0.20327918231487274,
8.318613052368164,
2.8057515621185303,
3.040834665298462,
4.715115070343018
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.55939292907715,
5.788168430328369,
-0.906560480594635,
4.770589351654053,
2.020500898361206,
1.7610633373260498,
4.7524614334106445
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.035546508830766,
-0.468897598902638,
-1.2782783444196513,
4.758554826483499,
2.0456128465027366,
1.8290375773725898,
-0.012569103499094566
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.41697912225727,
-11.063032601382709,
-1.0625037039870073,
5.44506587766688,
2.2215251274841976,
2.0503142544556634,
-1.5203282003409837
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.108966474638805,
-5.832324333843122,
-1.4091565152895102,
4.598179710605426,
1.9888762095614687,
1.666748908510132,
-0.05054097749618397
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.490338156513225,
0.772353172057697,
-1.1722345374439902,
0.8235290024545594,
0.7803436777548022,
1.7121109079373864,
1.5134494030819232
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.873720645558791,
5.62909240007725,
-0.9685051294586502,
0.8390669573684824,
0.778195842303924,
1.7264048727910752,
-0.9650419998756599
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998820898299613,
0.014928181765270242,
0.0035994202939471994,
-4.129061897957187
],
[
-0.01492227010913573,
0.9998872726371,
-0.0016636926193981777,
-0.3713782084563896
],
[
-0.003623850446613408,
0.0016097849312559473,
0.9999921381193033,
1.5433947082337391
],
[
0,
0,
0,
1
]
],
"timestamp": 2740
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001905/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": [
492,
392,
631,
502
],
"bbox_3d": [
21.44311337138612,
1.4372708437173223,
-1.3198245591794429,
4.451904296875,
1.9297845363616943,
1.587389588356018,
6.258828026436086,
0.5697920322418213,
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_ucity_small_loop/001581/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001581/lidar.bin",
"others": [
{
"bbox_3d_other": [
6.447814255811494,
-5.271871113430008,
-1.517084043703254,
4.6695324570891925,
2.0114521505461034,
1.7076712011683826,
-0.08369789732307606
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.333054895423913,
-0.5269165882121241,
-1.2960935762722385,
4.55444373043184,
1.9753171709007635,
1.724524184813811,
-0.024400375437884664
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.434105751973817,
-3.718084574266239,
-1.3660581065480641,
4.576261320293056,
1.9846265756367272,
1.7209508986835682,
-0.009271383789577854
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.107353853390578,
6.748721306555225,
-0.43476440147001416,
0.8124028478349958,
0.7842584933553423,
1.8303661755153111,
2.825123686772973
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999749511011794,
0.002164193826341088,
0.006738949122514849,
-161.45536249342973
],
[
-0.0023077014248270903,
0.9997691686879238,
0.021360801838685814,
2.0055892123096446
],
[
-0.006691164646581905,
-0.021375818256613693,
0.99974911988435,
1.6066682637819463
],
[
0,
0,
0,
1
]
],
"timestamp": 2261
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001581/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": [
915,
396,
1075,
510
],
"bbox_3d": [
22.215323871302765,
-6.043687271747604,
-1.5436745296091186,
4.455436673805505,
1.9703629698913978,
1.7455678345490329,
-0.040417843219966,
0.9906260371208191,
1
],
"class": "car",
"description": "1. Appearance: SUV, white, with visible front grille and headlights\n2. Motion state: stationary\n3. Position to viewer: right-center, slightly right, near the right edge of the view; side facing observer, front facing observer\n4. Relationship with surrounding objects: a silver sedan to the left front of the target, a white car to the right rear of the target\n5. Summary: white SUV parked on the right side of the road, facing forward, with a silver sedan 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_ucity_small_loop/002765/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002765/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.258743286132812,
-6.086372375488281,
-1.6924195289611816,
4.376313209533691,
1.935829997062683,
1.6476116180419922,
6.243029594421387
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.410493850708008,
4.356441020965576,
-1.4190704822540283,
4.466653347015381,
1.9686638116836548,
1.7373378276824951,
-0.05079460144042969
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.32236099243164,
4.428590774536133,
-1.3272963762283325,
4.7413010597229,
2.04252552986145,
1.82011079788208,
6.240549087524414
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.22622299194336,
-0.5571449995040894,
-1.5448638200759888,
4.571488857269287,
1.9783811569213867,
1.662709355354309,
6.272211074829102
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.385839462280273,
-6.117124557495117,
-1.7271997928619385,
4.440677642822266,
1.930847406387329,
1.5991692543029785,
6.304586410522461
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.28215789794922,
4.404989242553711,
-1.4680724143981934,
4.439521789550781,
1.9374127388000488,
1.6909852027893066,
6.179416656494141
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.676685701941764,
-6.063419562458677,
-1.4804272247018277,
4.5073304160908085,
1.9728570225736934,
1.7563073349147134,
0.03628973664777124
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.037892658331401,
-6.104033866608006,
-1.610115732362386,
4.543784601029916,
1.96322808052203,
1.630535013692589,
0.009820062893910464
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.2860272316499106,
4.539382683802103,
-1.0625099650108034,
5.077254706185589,
2.151770753963238,
2.062103304618198,
-0.026602331936641743
],
"class_other": "Car"
},
{
"bbox_3d_other": [
32.49148450772152,
-6.157235934979667,
-1.6864936813324098,
4.35683561262722,
1.9335156125966848,
1.6535350636124062,
-0.01418213545262148
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.46459534752377,
4.220466917467547,
-1.5021425607093424,
4.476202470653902,
1.9613688503870372,
1.6882848815314113,
-0.03552222531529248
],
"class_other": "Car"
},
{
"bbox_3d_other": [
40.133630564076626,
3.9273015984011295,
-0.613087681497192,
8.01132451285017,
2.8449205216687803,
3.345697131552098,
0.13118612112167582
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.966735863052875,
7.76409042858991,
-1.1930380746273561,
0.8770291462955453,
0.8266296013639903,
1.80812345988223,
-3.096073808123861
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.8275547905648375,
-0.5605410784418309,
-0.03076959525989134,
-39.9843567986656
],
[
0.5613849523375826,
-0.826304701035111,
-0.04546950996224083,
115.25614485648454
],
[
0.00006246693826016288,
-0.0549020985623088,
0.9984917404121763,
2.9306788680352454
],
[
0,
0,
0,
1
]
],
"timestamp": 3716
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002765/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": [
903,
370,
1049,
493
],
"bbox_3d": [
20.040081964621677,
-5.094506427810323,
-1.0213669818260325,
4.597601290299022,
1.9838813764888321,
1.7630795717387893,
-0.15853966083481397,
0.995969831943512,
1
],
"class": "car",
"description": "1. Appearance: car, silver, rear facing observer \n2. Motion state: stationary \n3. Position to viewer: bottom-right, near the right edge of the view, slightly right-center; rear facing observer, with visible taillights and rear window \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: silver car, rear facing observer, stationary at bottom-right near the right edge of the view, with a pedestrian to its left front and a white car to its left"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002488/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/002488/lidar.bin",
"others": [
{
"bbox_3d_other": [
22.905211399404763,
0.012722567557851505,
-1.0314778667469746,
4.493534354439496,
1.919964475038922,
1.5572218210404445,
-3.466283860394002
],
"class_other": "Car"
}
],
"pose": [
[
0.0020281767276191243,
-0.9993089140260714,
-0.0371157762574815,
24.11379920464914
],
[
0.9999355251768933,
0.0024413424724832877,
-0.011089875388950496,
47.129320535377744
],
[
0.011172823652593155,
-0.03709089099719677,
0.9992494352345975,
3.116270011584555
],
[
0,
0,
0,
1
]
],
"timestamp": 3439
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/002488/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": [
752,
379,
863,
429
],
"bbox_3d": [
45.15371355065545,
-5.622536676805442,
-1.3229102667722112,
4.55176221641478,
1.9757743923704658,
1.669182807189288,
-3.7975849868866707,
0.7074637413024902,
1
],
"class": "car",
"description": "1. Appearance: car, dark color, with visible headlights\n2. Motion state: stationary\n3. Position to viewer: center-right, slightly right, near the right edge of the view; side facing observer, cannot clearly determine\n4. Relationship with surrounding objects: a large truck to the left of the target, a pedestrian to the left front of the target\n5. Summary: A dark-colored car with visible headlights is stationary at the center-right of the view, side facing observer, located near a large truck to its left 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_ucity_small_loop/000182/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000182/lidar.bin",
"others": [
{
"bbox_3d_other": [
44.779350044491885,
-10.758030829821859,
-0.5260694638533597,
6.8749391636902795,
2.679655719254082,
2.9691578377846537,
-3.7863980072130925
],
"class_other": "Car"
}
],
"pose": [
[
-0.02829455931092162,
-0.9990065351751691,
-0.034429066073655076,
24.034832395021606
],
[
0.9992113297729068,
-0.027306851063108706,
-0.02882801308581828,
44.720637959373036
],
[
0.02785922408933253,
-0.03521758882036888,
0.9989912837812048,
1.6483993672966712
],
[
0,
0,
0,
1
]
],
"timestamp": 616
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000182/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": [
879,
334,
1020,
424
],
"bbox_3d": [
44.917136190819946,
-10.946522741761292,
-0.46616468219369644,
7.104558836161595,
2.704313124787435,
3.0216788109753803,
-3.7702054698648855,
0.8210504055023193,
1
],
"class": "car",
"description": "1. Appearance: truck, yellow, with large front grille and headlights\n2. Motion state: moving right in frame\n3. Position to viewer: right-center, slightly right, near the right edge of the view; side facing observer\n4. Relationship with surrounding objects: a black car to the left front of the target, a pedestrian to the left of the target, a large building to the right of the target\n5. Summary: yellow truck with large front grille and headlights, located at the right-center of the view, moving right in frame, side facing observer, with a black car to its left front and a pedestrian and large building 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_ucity_small_loop/000139/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000139/lidar.bin",
"others": [
{
"bbox_3d_other": [
45.158966064453125,
-5.697128772735596,
-1.3676295280456543,
4.595285415649414,
1.9894651174545288,
1.6838613748550415,
-10.041791915893555
],
"class_other": "Car"
}
],
"pose": [
[
-0.02820441500020826,
-0.9990020376415687,
-0.034632928875423706,
24.03405148268156
],
[
0.9992172804991295,
-0.02721525222644322,
-0.028708124253862453,
44.72142960558978
],
[
0.02773693073179079,
-0.035415516856954134,
0.9989876895334271,
1.6479851377512067
],
[
0,
0,
0,
1
]
],
"timestamp": 532
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000139/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": [
98,
326,
150,
444
],
"bbox_3d": [
17.966357304560304,
8.111165063030068,
-0.2915992678616155,
0.7849312395159742,
0.7581178648248043,
1.7693767890969918,
0.5507727732832751,
0.8892294764518738,
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_ucity_small_loop/006376/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006376/lidar.bin",
"others": [
{
"bbox_3d_other": [
19.096834182739258,
4.359410762786865,
-0.9582898616790771,
0.8427852988243103,
0.7843430042266846,
1.7946971654891968,
-3.11784029006958
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.3123779296875,
7.492151260375977,
-0.45039817690849304,
0.7807413339614868,
0.7544877529144287,
1.7979861497879028,
-3.126425266265869
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.11827503770364,
8.34121716769204,
-0.3977936971208563,
0.7815951880279994,
0.7464950384198971,
1.7648778131402252,
-3.083768654489093
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.485676749380563,
9.535538763234893,
-0.28597722034224415,
0.7384768259234484,
0.7213248863305313,
1.7348823196599077,
3.040379166220396
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
18.934488802543097,
7.843640498459104,
-0.3357318224198611,
0.7724332112600211,
0.7526010351239568,
1.7594324408974962,
-2.765862420938778
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.849477268347425,
6.863494898391137,
-0.45930778058952293,
0.8053277234236399,
0.7784706403811773,
1.8354334036509197,
3.079327782815627
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999914480336742,
0.0037071801439423862,
0.0018332143617512094,
-50.58452953653251
],
[
-0.0037210935504263143,
0.9999638502561887,
0.007645367460609856,
0.280289784513344
],
[
-0.0018048053370785648,
-0.007652123639822844,
0.9999690933631381,
1.4587778533813003
],
[
0,
0,
0,
1
]
],
"timestamp": 2497
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006376/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
111,
370,
179,
488
],
"bbox_3d": [
17.410432531428256,
7.494183708573887,
-0.923191018515383,
0.7619456342695807,
0.733018503021537,
1.6853235813660166,
-1.6906929596949452,
0.9277421236038208,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing light-colored top and dark pants, with a 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 the green bounding box, truncated at the top and bottom\n4. Relationship with surrounding objects: a white bus to the right front of the target, a fire hydrant to the right of the target\n5. Summary: person wearing light top and dark pants, carrying a bag, moving left in frame, located at the top-left of the view, side profile facing observer, partially occluded, with a white bus to the right front and a fire hydrant 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_ucity_small_loop/006563/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006563/lidar.bin",
"others": [
{
"bbox_3d_other": [
37.80537414550781,
19.53022575378418,
-0.15827417373657227,
4.720251560211182,
2.0222721099853516,
1.724023699760437,
-3.1556270122528076
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.909976959228516,
7.897770881652832,
-0.18305781483650208,
8.46237850189209,
2.82818341255188,
3.1250956058502197,
-1.5412757396697998
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.204070899750217,
-0.4925897008021627,
-1.262182476743018,
4.710286192047847,
2.0384619189429447,
1.8367849134168688,
-0.02166577467274908
],
"class_other": "Car"
},
{
"bbox_3d_other": [
30.92358998140078,
-7.77085136889404,
-1.1256595817326547,
4.649806773311428,
1.9625499213042177,
1.5905968393490406,
1.0147454708291201
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.2283050307977077,
-3.2002596436247313,
-1.3604927430532323,
4.6568538699361435,
2.015148229486018,
1.7028428875081991,
0.007203504245800873
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.198871711408739,
-5.90886374897761,
-1.4011135075189127,
4.603606591732052,
1.9921864526364175,
1.6705953116520753,
0.014025088890577474
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.638753837626087,
-9.535445996387752,
-1.216405747884088,
0.8455859445098522,
0.8015392009528405,
1.7792191193762221,
-1.2662170624543068
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998798820705119,
0.015016204047514881,
0.003838625621581294,
-4.1303325031100675
],
[
-0.015009227460290682,
0.9998856624593992,
-0.0018398639008419368,
-0.3709925246946561
],
[
-0.0038658144943231345,
0.0017820280951104145,
0.999990939886039,
1.54431448080457
],
[
0,
0,
0,
1
]
],
"timestamp": 2839
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006563/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": [
325,
362,
464,
447
],
"bbox_3d": [
32.51054451669714,
6.610618700444773,
-0.9066503114257674,
5.30988073348999,
2.180861234664917,
2.010152816772461,
-0.09766363833711318,
0.9930447936058044,
1
],
"class": "car",
"description": "1. Appearance: car, white, with a visible roof rack\n2. Motion state: stationary\n3. Position to viewer: center-left, slightly left of the center of the view, partially occluded by the green bounding box; side facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white bus to the right of the target\n5. Summary: A white car with a roof rack, stationary in the center-left of the view, side facing observer, with a pedestrian to its left front and a white bus 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_ucity_small_loop/004688/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004688/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.89186253157601,
-3.6325610140194398,
-0.7299394916762769,
12.081868171691895,
3.024080753326416,
3.351848602294922,
-0.021277428759791175
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.607303619384766,
3.898104429244995,
-1.13992178440094,
0.7895961403846741,
0.762388288974762,
1.725350022315979,
2.93477201461792
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.11113166809082,
4.313401222229004,
-1.1493773460388184,
0.7962840795516968,
0.755059003829956,
1.679476261138916,
6.314979076385498
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.223925061436546,
2.897375510001635,
-1.1383863895718638,
0.8071616888046265,
0.7782971858978271,
1.8023462295532227,
2.9532581743164283
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
11.936865280315715,
2.1632698506835943,
-1.2645832507488362,
0.8177507519721985,
0.7818072438240051,
1.7297205924987793,
-5.430848223312355
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999241006213516,
0.010219579627532617,
-0.0068813653309438986,
-139.10373193811762
],
[
-0.010054062319016984,
0.9996692070971329,
0.023672604687174883,
1.9804133839334341
],
[
0.007121013092722071,
-0.023601622275310898,
0.9996960811159095,
2.2310518454159234
],
[
0,
0,
0,
1
]
],
"timestamp": 5200
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004688/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": [
48,
294,
455,
458
],
"bbox_3d": [
24.904065769705284,
8.308875200990107,
-0.20673273179241436,
8.314405192110621,
2.811574111357662,
3.086294312950068,
-1.5668135006208115,
0.9988932013511658,
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_ucity_small_loop/001927/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001927/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.023113250732422,
-0.4785041809082031,
-1.2784976959228516,
4.768584728240967,
2.0469508171081543,
1.8305232524871826,
6.267096519470215
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.158708572387695,
-12.015420913696289,
-1.157543659210205,
4.552699089050293,
1.9598714113235474,
1.6207786798477173,
7.665047645568848
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.773056030273438,
-1.3301982879638672,
-0.8356156945228577,
6.108370780944824,
2.306101083755493,
2.10795521736145,
4.7758049964904785
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.29964844445443,
2.7936636843522287,
-0.882063930930507,
4.631108347372761,
1.986733442000644,
1.6673552430187337,
1.5275203092548908
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.075434210383852,
-3.6644894033392363,
-1.3732219859670112,
4.623890946689423,
1.9897205699712435,
1.6618569213259218,
-0.3417667508497569
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.366447448730469,
7.043567657470703,
-0.6795285940170288,
0.8442769646644592,
0.7962263226509094,
1.809339165687561,
5.437279224395752
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.523158915218517,
-0.8881035082596325,
-1.1863988714917475,
0.8852053583935721,
0.8231730608559629,
1.7615917171258144,
1.718704351744426
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.651586389897744,
7.764982969174113,
-0.7424865974677921,
0.8675773650689869,
0.8067643315299693,
1.8576855152407843,
1.4363869988988518
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998835133518147,
0.014878811133763612,
0.0034030437078193896,
-4.127414240370204
],
[
-0.014872688081578081,
0.9998877434891232,
-0.0018175724077756166,
-0.37163506244698385
],
[
-0.0034297050105836216,
0.001766748277263626,
0.9999925578343397,
1.5427025520598172
],
[
0,
0,
0,
1
]
],
"timestamp": 2728
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001927/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,
414,
270,
707
],
"bbox_3d": [
9.199669790880762,
4.631476459914886,
-1.3561289324043875,
4.321046534441268,
1.9097185853323888,
1.6900436602894273,
-0.03096184175240424,
0.9862918257713318,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark green, with visible rear lights and side mirrors\n2. Motion state: stationary\n3. Position to viewer: bottom-left, slightly left, near the left edge of the view; rear facing observer, side profile facing observer\n4. Relationship with surrounding objects: a black car to the right front of the target, a white truck to the right rear of the target\n5. Summary: A dark green SUV parked on the left side of the road, rear facing observer, with a black car to its right front and a white truck 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_ucity_small_loop/000504/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000504/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.27865219116211,
4.434813499450684,
-1.3727874755859375,
4.4665045738220215,
1.9434773921966553,
1.6930983066558838,
6.2701416015625
],
"class_other": "Car"
},
{
"bbox_3d_other": [
29.635328994476296,
-3.023588823376855,
-1.460178022363996,
4.506850475006007,
1.9635317278159752,
1.6657905487121325,
-0.010515177090206773
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.093083029829685,
-6.124490267761843,
-1.5063615520545115,
4.265251853566099,
1.8808333354155176,
1.6050848254382173,
-0.01880806624336495
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.038526714242536,
-5.879456396982249,
-1.5609051872366728,
4.270602120360924,
1.8773110792059102,
1.5881973988918645,
-0.06622313496138599
],
"class_other": "Car"
},
{
"bbox_3d_other": [
23.944937685016228,
-6.18914159264672,
-1.4603541701524194,
4.522903973848123,
1.9457538698941768,
1.6366803337502571,
-0.0015931400358728531
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.968043381424806,
4.197901835757236,
-0.37488987910131266,
9.627236170503977,
2.9689069784374973,
3.5783358674066608,
0.15491209394119698
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.164828268882772,
4.709724030676782,
-1.3737522820307593,
4.513976478391856,
1.9630248046184384,
1.7162499180851314,
-0.10888518944663472
],
"class_other": "Car"
},
{
"bbox_3d_other": [
2.0944459989743365,
-5.811281039298848,
-1.6025211077476151,
4.444751017278412,
1.9480210365190915,
1.623397490943356,
0.012930736826445077
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.9953362262464225,
-5.797407818542553,
-1.3501276654004641,
4.514546854315331,
1.9841895694940936,
1.778709877775138,
-0.03045693236828173
],
"class_other": "Car"
},
{
"bbox_3d_other": [
38.197132608437144,
-15.409884358011169,
-1.3107081122316724,
4.604215345212815,
1.9886848297685673,
1.6954225202574793,
-1.5998735887390056
],
"class_other": "Car"
}
],
"pose": [
[
-0.8344163032828142,
-0.5501894680951288,
-0.03226425286663262,
-51.978077340814075
],
[
0.5511306843251679,
-0.8332020731568832,
-0.045047464771549875,
123.83411351114015
],
[
-0.002098001695643139,
-0.05537015878856694,
0.9984636918309119,
2.002568637819408
],
[
0,
0,
0,
1
]
],
"timestamp": 1075
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000504/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": [
877,
335,
1018,
423
],
"bbox_3d": [
44.8559358665308,
-10.864364702369773,
-0.46448617931610725,
7.043238559697919,
2.6868118196513557,
2.9511913594853136,
-3.7743907519137956,
0.9131437540054321,
1
],
"class": "car",
"description": "1. Appearance: truck, yellow, with large front grille and headlights\n2. Motion state: moving right in frame\n3. Position to viewer: right-center, slightly right, near the right edge of the view; front facing observer\n4. Relationship with surrounding objects: a black car to the left front of the target, a pedestrian to the left of the target\n5. Summary: yellow truck with large front grille and headlights, located at the right-center of the view, moving right in frame, front facing observer, with a black car to its left front and a pedestrian to its left."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000208/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000208/lidar.bin",
"others": [
{
"bbox_3d_other": [
45.21760469537757,
-5.316416441326819,
-1.3636128068251643,
4.600525931803205,
1.9902106530967845,
1.6786285203953062,
-3.716253759605798
],
"class_other": "Car"
}
],
"pose": [
[
-0.02829867821096077,
-0.9990005166115962,
-0.03459989337088647,
24.035479168918194
],
[
0.9992197501503749,
-0.027316938960868176,
-0.02852500228274739,
44.711523463849126
],
[
0.027551328841546548,
-0.035380116669853176,
0.9989940798740965,
1.6475785144969355
],
[
0,
0,
0,
1
]
],
"timestamp": 660
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000208/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,
381,
93,
534
],
"bbox_3d": [
14.190294653218288,
7.499236263399666,
-1.134231499657468,
0.8559745484382615,
0.8111040641636802,
1.83699715068162,
0.01523679816530854,
0.9952155947685242,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and light-colored pants, carrying 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; partially occluded by the green bounding box and image blur \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 top and light pants with a backpack, moving left in frame, located at top-left near the left edge, side profile facing observer, partially occluded, with a pedestrian and 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_ucity_small_loop/006888/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006888/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.767608642578125,
-7.164486408233643,
-1.456666111946106,
4.451105117797852,
1.9243409633636475,
1.5653973817825317,
0.010918140411376953
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.68721580505371,
-4.058096885681152,
-1.2593724727630615,
4.492016792297363,
1.9511547088623047,
1.6573725938796997,
6.2157883644104
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.061055822230557,
-7.071964541199634,
-1.0270302314020598,
5.493841109562548,
2.270164286612005,
2.287375174695076,
-0.05768775755175892
],
"class_other": "Car"
},
{
"bbox_3d_other": [
31.018331622510104,
-7.695715782857235,
-0.9714595544393987,
4.486115897773446,
1.954701798165487,
1.6894283535365677,
-0.07430465242094209
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.346837749756368,
-7.438915740330572,
-1.3136575723724415,
4.3676655326226745,
1.9209008135440249,
1.6091089137113963,
-0.007021812240112446
],
"class_other": "Car"
}
],
"pose": [
[
0.010776400741453251,
0.9999126123715585,
0.0076574674237145915,
-241.89389925801373
],
[
-0.999695520889635,
0.010943426599467343,
-0.022115761968870225,
82.75193323137593
],
[
-0.022197628257569817,
-0.007416807571166633,
0.9997260906194212,
3.1697857401050227
],
[
0,
0,
0,
1
]
],
"timestamp": 4764
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006888/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": [
1140,
403,
1279,
616
],
"bbox_3d": [
11.916726966537198,
-6.644445079376203,
-1.4322638630199032,
4.475459965741515,
1.96577990936618,
1.7293475739363249,
6.20794828994499,
0.9969176054000854,
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_ucity_small_loop/003836/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003836/lidar.bin",
"others": [
{
"bbox_3d_other": [
18.092912673950195,
3.6538376808166504,
-1.5801000595092773,
4.343645095825195,
1.896804928779602,
1.5825215578079224,
6.211143970489502
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.060447692871094,
2.8583545684814453,
-0.9773719310760498,
6.150161266326904,
2.4703776836395264,
2.5577821731567383,
6.241181373596191
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.021547687843963,
-4.09898793536027,
-1.3131028541152148,
4.76051521491878,
2.0378108075285226,
1.7982109838852993,
6.219222299529749
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.08575380066867,
-3.852088838250978,
-1.4434844453170932,
4.378624354910989,
1.9282884705510885,
1.6977723649373662,
6.226360687202549
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.990724323337872,
-0.0754491378644957,
-1.2844957945481212,
4.7518179747578815,
2.048072668450153,
1.8396229790733645,
6.239138578376026
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.102019601242091,
3.832857477735274,
-1.0460641293151873,
5.69048960274345,
2.2939613349244943,
2.251421773751183,
6.214667363346953
],
"class_other": "Car"
}
],
"pose": [
[
-0.999292011119442,
0.027168549021431353,
0.02602588052172473,
-199.0918248502124
],
[
-0.02855316225436409,
-0.9981110844445781,
-0.05439650755466085,
177.30082018268374
],
[
0.02449884564907023,
-0.05510111662152046,
0.9981801808836542,
4.493612053787682
],
[
0,
0,
0,
1
]
],
"timestamp": 4220
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003836/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": [
895,
385,
1205,
616
],
"bbox_3d": [
12.69436073575858,
-3.868600036093041,
-1.2729705360800372,
4.653232215374458,
2.035379605471452,
1.8925765454917653,
-0.01595610916797383,
0.9984499216079712,
1
],
"class": "car",
"description": "1. Appearance: SUV, white, with spare tire mounted on rear door\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 white car in front, rear of the vehicle is visible\n4. Relationship with surrounding objects: a white car to the left front of the target, a red truck to the left rear of the target\n5. Summary: white SUV with spare tire on rear, located at bottom-right of the view, rear facing observer, partially occluded by a white car in front, with a red truck to its left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005171/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005171/lidar.bin",
"others": [
{
"bbox_3d_other": [
17.263391494750977,
-0.6730375289916992,
-1.3265857696533203,
4.8402323722839355,
2.043738603591919,
1.7597872018814087,
6.290368556976318
],
"class_other": "Car"
},
{
"bbox_3d_other": [
30.306575775146484,
-2.91762638092041,
-1.1038310527801514,
4.699380397796631,
1.9934169054031372,
1.6351803541183472,
4.735775947570801
],
"class_other": "Car"
},
{
"bbox_3d_other": [
36.94909734829185,
19.03902124248698,
0.4347563745538756,
5.659729301890726,
2.3251025018666427,
2.2406514341828534,
1.5651175438538356
],
"class_other": "Car"
},
{
"bbox_3d_other": [
33.57014029909681,
3.3922032212479136,
-0.7167227312865341,
5.565353920273835,
2.2214542527503656,
2.027346428764246,
-1.5770181153524947
],
"class_other": "Car"
},
{
"bbox_3d_other": [
31.66356885222457,
-16.165797727189794,
-1.1628547626584915,
4.559740204599134,
1.9857267962929022,
1.6857751784418542,
-1.329411187058449
],
"class_other": "Car"
},
{
"bbox_3d_other": [
36.260883553360564,
-5.042539707658576,
-0.9913473197115248,
4.704365678680611,
2.0067803259453925,
1.6681152776986936,
1.4680879432703033
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.640843125229928,
-0.7433423494164897,
-1.3010557779693994,
4.79436476150507,
2.0632110077940857,
1.8649289808350227,
0.011536918072066141
],
"class_other": "Car"
}
],
"pose": [
[
0.999995639894944,
0.002801731228808775,
0.0009330022631312634,
-12.813003995920727
],
[
-0.0028148367326033775,
0.9998930033140822,
0.014354741993979476,
-0.5467136236952501
],
[
-0.0008926843060551295,
-0.014357305654838195,
0.9998965300915207,
2.447190927570934
],
[
0,
0,
0,
1
]
],
"timestamp": 6316
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005171/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": [
911,
402,
986,
551
],
"bbox_3d": [
14.78702325528782,
-3.5073089982772157,
-1.3824506204568505,
0.8134284891254515,
0.7787662590397215,
1.7222306541696288,
1.2422274808915328,
0.9508557915687561,
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 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 left front of the target, a white car to the left \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 pedestrian and a white car 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_ucity_small_loop/007121/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/007121/lidar.bin",
"others": [
{
"bbox_3d_other": [
35.11222369226354,
6.284860292535029,
-0.3831931041889536,
5.259689019000529,
2.1720551583194956,
2.0105641015710787,
-0.09247653571497315
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.808262825012207,
-4.986972332000732,
-1.431796669960022,
0.8333397507667542,
0.7988365888595581,
1.7634387016296387,
1.3798377513885498
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
9.440461955357193,
3.29856594652443,
-0.9990226675444415,
0.8077391098747688,
0.7665074757186374,
1.774987397564802,
0.03299079084177584
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
8.129180421103001,
-0.9941363272174146,
-1.2094822960316318,
0.8632246910523511,
0.8173270407764468,
1.8475820837904255,
1.798644301903765
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
6.751455163026748,
3.6872436805516613,
-1.266228674270432,
0.799920980732579,
0.7568976513470096,
1.6411528522046706,
0.1447448757103772
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999595939341417,
-0.0010620921622477957,
0.00892650319584002,
-141.76382572519225
],
[
0.0008461377234837855,
0.9997077089657267,
0.02416155387078167,
2.0283202183581577
],
[
-0.008949555855982349,
-0.02415302454635193,
0.9996682133864435,
2.249670570300777
],
[
0,
0,
0,
1
]
],
"timestamp": 5091
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/007121/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": [
331,
363,
393,
470
],
"bbox_3d": [
21.368066311734225,
5.020575313927592,
-0.8691639582012503,
0.7618730989549608,
0.7430840631382787,
1.796587395323293,
0.9463046415697265,
0.8160661458969116,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a tree trunk; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a white car to the right rear of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at 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_ucity_small_loop/007507/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/007507/lidar.bin",
"others": [
{
"bbox_3d_other": [
14.601980982721116,
2.624673858133001,
-1.0062383066183647,
0.8545570152433923,
0.8030427754993354,
1.8602387268927247,
0.013941900539163367
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999273841311798,
0.011885148370401055,
-0.0019924138098944737,
-72.18371500766192
],
[
-0.011848732179851145,
0.9997785982789472,
0.017388558569181065,
0.9564319859539887
],
[
0.002198638284590039,
-0.017363688306268155,
0.9998468224273639,
2.259007033570698
],
[
0,
0,
0,
1
]
],
"timestamp": 5952
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/007507/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": [
1075,
380,
1214,
474
],
"bbox_3d": [
25.687187498758448,
-10.542742890349842,
-1.318133724298061,
4.516444700267742,
1.9885347197107734,
1.7945594180621391,
-0.10382163284936663,
0.9847242832183838,
1
],
"class": "car",
"description": "1. Appearance: car, white, with a boxy shape \n2. Motion state: stationary \n3. Position to viewer: bottom-right, slightly right, near the right edge of the view; rear facing observer \n4. Relationship with surrounding objects: a black car to the left front of the target, a white van to the left of the target \n5. Summary: white boxy car, stationary, rear facing observer, located at bottom-right near the right edge of the view, with a black car to its left front and a white van 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_ucity_small_loop/004538/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004538/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.02437400817871,
-7.749955177307129,
-1.4940921068191528,
4.513943672180176,
1.9621502161026,
1.647480845451355,
-6.444222450256348
],
"class_other": "Car"
},
{
"bbox_3d_other": [
31.64326286315918,
-11.300271987915039,
-1.2909389734268188,
4.485019207000732,
1.9697628021240234,
1.736590027809143,
-6.396725654602051
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.596926380082024,
-9.701300688589157,
-1.4605028715409176,
4.4760721866452675,
1.9769264649821356,
1.789122149092976,
-0.07637005638093353
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.452396401200772,
-8.464680124156445,
-1.6673632540912264,
4.4711996567569035,
1.9458600201303882,
1.606215698606174,
-0.09322162571166115
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.981169777817712,
-9.163454799850115,
-1.6407300571821424,
4.408512916495651,
1.9372317652455004,
1.622986857764721,
-0.11285426495432982
],
"class_other": "Car"
}
],
"pose": [
[
0.10567558456476894,
0.9943614595097451,
0.008829420623338594,
-241.42027184252132
],
[
-0.9943550927998529,
0.10575157723723111,
-0.00863442730201363,
72.21758877952114
],
[
-0.009519466891070055,
-0.00786713121076649,
0.9999237410906006,
3.0340016454723253
],
[
0,
0,
0,
1
]
],
"timestamp": 4780
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004538/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": [
331,
380,
407,
520
],
"bbox_3d": [
15.980984047125439,
3.6508667175135088,
-1.0997884788765822,
0.8140000266129853,
0.7789171638547397,
1.7428194142755915,
-0.036918974427198714,
0.7578544020652771,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a tree trunk; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white bus to the right rear of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at left-center of the view, partially blocked by a tree, with a pedestrian to the left front and a white bus to the right rear."
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006934/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006934/lidar.bin",
"others": [
{
"bbox_3d_other": [
46.575534094970465,
-3.4865604430567885,
-0.3061540699456229,
8.035437146171194,
2.786716604819063,
3.1228405686675527,
0.3031329440455717
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.014793395996094,
4.4021687507629395,
-0.9837931990623474,
0.8433647155761719,
0.79365473985672,
1.782678246498108,
-6.247170448303223
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.163983592703524,
5.72645780773226,
-0.9066061108888173,
0.8151226705703579,
0.7691989919689836,
1.762468436702353,
3.11967823581981
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.09156723729306043,
0.995161518421756,
0.035622932319242934,
-239.51052971039465
],
[
-0.9956316073956771,
0.09214895044244381,
-0.015042383024512756,
56.59122206366883
],
[
-0.01825221655625621,
-0.0340899279092966,
0.9992520870160455,
2.8304762200010702
],
[
0,
0,
0,
1
]
],
"timestamp": 4804
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006934/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": [
613,
395,
969,
731
],
"bbox_3d": [
9.636378206692784,
-0.747699688602895,
-1.2862552922266193,
4.752179171994288,
2.051951605877026,
1.855096806648635,
0.01299241396838189,
0.9992822408676147,
1
],
"class": "car",
"description": "1. Appearance: minivan, white, with visible rear lights and a license plate\n2. Motion state: stationary\n3. Position to viewer: center, slightly right, near the right edge of the view; rear facing observer; the vehicle is partially occluded by the car in front and the surrounding vehicles\n4. Relationship with surrounding objects: a white jeep to the right of the target, a pedestrian to the left front of the target, a white car to the left rear of the target\n5. Summary: white minivan, rear facing observer, stationary, located in the center-right of the view, partially occluded, with a white jeep to the right and a pedestrian to the left front"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005466/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/005466/lidar.bin",
"others": [
{
"bbox_3d_other": [
12.700751304626465,
-3.8614165782928467,
-1.2657030820846558,
4.620103359222412,
2.0245778560638428,
1.8837085962295532,
6.263453006744385
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.23799318197662,
-0.690279999747945,
-1.3269610329689852,
4.8341668608132,
2.0395013576603525,
1.7470015476881193,
-0.015659922551653858
],
"class_other": "Car"
},
{
"bbox_3d_other": [
46.429022734945235,
19.214086767918502,
-0.10922399921837433,
5.0132179710563145,
2.1074185085742605,
1.8730507973795882,
1.5919923978930626
],
"class_other": "Car"
},
{
"bbox_3d_other": [
5.207032900651746,
-3.6963481881385016,
-1.40854502005471,
4.577445039989666,
1.991233831892949,
1.701902583774268,
0.05222950082447856
],
"class_other": "Car"
},
{
"bbox_3d_other": [
7.64074700819046,
3.3174317940869336,
-1.0446397827259035,
0.8399772579987702,
0.7945230918638445,
1.802813891989415,
0.08104625533695187
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.600442983069437,
-6.94524946065655,
-1.7415317394580603,
0.8114611037199513,
0.7677029509208628,
1.6528896084146782,
0.19249262976543044
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.99999547616204,
0.0027931871041992967,
0.00111613675510164,
-12.816881575343462
],
[
-0.0028088573093880452,
0.9998938926530855,
0.01429383628266716,
-0.5466136652689799
],
[
-0.0010760929656174806,
-0.01429690668855083,
0.999897214959152,
2.448136538219607
],
[
0,
0,
0,
1
]
],
"timestamp": 6528
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/005466/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
835,
379,
973,
496
],
"bbox_3d": [
22.813156085173063,
-4.445725561389947,
-1.2617166080451117,
4.729397004351388,
2.0558907816826264,
1.864670533961754,
6.19142448904608,
0.9804145693778992,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark-colored, with visible rear lights and a roof rack \n2. Motion state: stationary \n3. Position to viewer: top-right, slightly right, near the right edge of the view; rear facing observer, side facing observer; partially occluded by the car in front, truncated at the right edge \n4. Relationship with surrounding objects: a dark SUV to the left front of the target, a white car to the right of the target \n5. Summary: dark-colored SUV with a roof rack, stationary in the top-right of the view, rear and side facing observer, partially occluded and truncated on the right, located between a dark SUV in 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_ucity_small_loop/003489/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003489/lidar.bin",
"others": [
{
"bbox_3d_other": [
15.092616081237793,
3.6770639419555664,
-1.0215831995010376,
5.660262584686279,
2.289053201675415,
2.3019275665283203,
6.190976142883301
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.675848007202148,
-6.824094295501709,
-1.4254169464111328,
4.584408760070801,
1.9928359985351562,
1.7173243761062622,
6.189773082733154
],
"class_other": "Car"
},
{
"bbox_3d_other": [
11.209395808319158,
-0.1851763894505325,
-1.2412170770821422,
4.712009461060848,
2.0372536254846207,
1.8325052503347217,
6.241181350326483
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.483511008340798,
-6.318503735218712,
-1.1936408971391117,
4.942134978044,
2.11665114989571,
1.9520599565747996,
6.209200472856753
],
"class_other": "Car"
},
{
"bbox_3d_other": [
17.054663056965097,
-4.122090590195029,
-1.4408908297687617,
4.411047416544911,
1.9307443793933317,
1.6536157646156278,
6.184326037897243
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.253222782796456,
4.336421360635512,
-1.087994761543765,
5.593566039105815,
2.276935080243957,
2.2048872793296668,
6.218720005760622
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.188370053012278,
3.4800474168110043,
-1.518213849408232,
4.2989335753839,
1.8916370990291143,
1.582093167077045,
6.235429020126517
],
"class_other": "Car"
}
],
"pose": [
[
-0.999115329904931,
0.03418033610522736,
0.02450024842108464,
-196.23185990425432
],
[
-0.035576657825451635,
-0.9976223754485624,
-0.059024549319233045,
177.3405014822499
],
[
0.022424517094731394,
-0.05984396902029087,
0.9979558308888058,
4.420501068057595
],
[
0,
0,
0,
1
]
],
"timestamp": 4090
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003489/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": [
552,
397,
942,
756
],
"bbox_3d": [
9.028287020239992,
-0.4887486946925783,
-1.2758941719479722,
4.747321002548379,
2.0435433627406323,
1.8296161533108577,
-0.006861718812999698,
0.9990359544754028,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark gray, with rear lights on and visible license plate\n2. Motion state: stationary\n3. Position to viewer: bottom-center, slightly right, rear of the vehicle is visible, partially occluded by the green bounding box; rear facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white van to the right of the target, a white bus to the left of the target\n5. Summary: dark gray SUV, rear facing observer, stationary at the bottom-center of the view, with a pedestrian to its left front, a white van to its right, and a white bus 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_ucity_small_loop/001791/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001791/lidar.bin",
"others": [
{
"bbox_3d_other": [
28.06977081298828,
-7.665215969085693,
-0.4878108501434326,
6.630166053771973,
2.5527279376983643,
2.7385969161987305,
1.4784529209136963
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.876779894821222,
8.366524568340317,
-0.21384032849056567,
8.273147942316943,
2.810606910302807,
3.0835823049422024,
-1.5596869525052004
],
"class_other": "Car"
},
{
"bbox_3d_other": [
37.073896402295574,
-3.9079873958801796,
-0.8896575663595477,
4.704624751034819,
2.0059069068952637,
1.6394721991444412,
0.4736143715815219
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.008853942042635,
-3.6741393552962984,
-1.3671848802220066,
4.612063984405586,
1.989588212610086,
1.6617957996527193,
-0.35004589591391927
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.100593452549134,
-3.0724836984686985,
-1.048664683078059,
0.9354322782877584,
0.8631317347301956,
1.9018320002010227,
1.523234981336658
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
19.70532702884379,
-10.777783180737035,
-1.4387128548207149,
0.8070890406767527,
0.7531399726867676,
1.7479353149731953,
2.652959769609413
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998819178594854,
0.014914576893964904,
0.0037021255667060806,
-4.128189736625696
],
[
-0.014908172757485752,
0.9998873330298789,
-0.0017514655090446194,
-0.3713284387821932
],
[
-0.003727830826447245,
0.0016960667647299146,
0.9999916132822612,
1.5431435448983766
],
[
0,
0,
0,
1
]
],
"timestamp": 2660
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001791/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": [
418,
367,
634,
445
],
"bbox_3d": [
28.29964844445443,
2.793663684352229,
-0.8820639309305064,
4.631108347372761,
1.986733442000644,
1.6673552430187337,
1.5275203092548908,
0.9412833452224731,
1
],
"class": "car",
"description": "1. Appearance: car, white, with a roof rack\n2. Motion state: stationary\n3. Position to viewer: center, slightly left, near the center of the view; rear facing observer, side facing observer; partially occluded by a pole on the left\n4. Relationship with surrounding objects: a white bus to the left front of the target, a black SUV to the right front of the target\n5. Summary: white car with a roof rack, stationary in the center-left of the view, rear facing observer, partially occluded by a pole, located in front of a white bus and to the left of a black SUV"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001889/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001889/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.023113250732422,
-0.4785041809082031,
-1.2784976959228516,
4.768584728240967,
2.0469508171081543,
1.8305232524871826,
6.267096519470215
],
"class_other": "Car"
},
{
"bbox_3d_other": [
28.158708572387695,
-12.015420913696289,
-1.157543659210205,
4.552699089050293,
1.9598714113235474,
1.6207786798477173,
7.665047645568848
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.773056030273438,
-1.3301982879638672,
-0.8356156945228577,
6.108370780944824,
2.306101083755493,
2.10795521736145,
4.7758049964904785
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.075434210383852,
-3.6644894033392363,
-1.3732219859670112,
4.623890946689423,
1.9897205699712435,
1.6618569213259218,
-0.3417667508497569
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.904065769705284,
8.308875200990107,
-0.2067327317924148,
8.314405192110621,
2.811574111357662,
3.086294312950068,
-1.5668135006208115
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.366447448730469,
7.043567657470703,
-0.6795285940170288,
0.8442769646644592,
0.7962263226509094,
1.809339165687561,
5.437279224395752
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.523158915218517,
-0.8881035082596325,
-1.1863988714917475,
0.8852053583935721,
0.8231730608559629,
1.7615917171258144,
1.718704351744426
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.651586389897744,
7.764982969174113,
-0.7424865974677921,
0.8675773650689869,
0.8067643315299693,
1.8576855152407843,
1.4363869988988518
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998835133518147,
0.014878811133763612,
0.0034030437078193896,
-4.127414240370204
],
[
-0.014872688081578081,
0.9998877434891232,
-0.0018175724077756166,
-0.37163506244698385
],
[
-0.0034297050105836216,
0.001766748277263626,
0.9999925578343397,
1.5427025520598172
],
[
0,
0,
0,
1
]
],
"timestamp": 2728
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001889/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": [
407,
383,
493,
530
],
"bbox_3d": [
15.73346197477332,
2.5536624103307197,
-1.1490124866502223,
0.7698441739147218,
0.7538837029444416,
1.774639064419824,
-1.9815264042312715,
0.3,
2
],
"class": "pedestrian",
"description": "1. Appearance: person, wearing dark top and dark pants, with a backpack \n2. Motion state: moving left in frame \n3. Position to viewer: left-center, slightly left of the center of the view, partially occluded by a tree trunk on the left; side profile facing observer \n4. Relationship with surrounding objects: a pedestrian to the right front of the target, a black car to the right rear of the target \n5. Summary: person wearing dark clothes and a backpack, moving left in frame, located at left-center of the view, partially occluded by a tree, with a pedestrian and a black 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_ucity_small_loop/006148/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006148/lidar.bin",
"others": [
{
"bbox_3d_other": [
19.56841278076172,
0.17566442489624023,
-1.2066682577133179,
4.775982856750488,
2.0485615730285645,
1.8255311250686646,
0.03362298011779785
],
"class_other": "Car"
},
{
"bbox_3d_other": [
20.648579178663653,
-2.811311727832525,
-1.3452600279263398,
4.6007382497058735,
2.0005753568129223,
1.7519390574841673,
-0.01472449826407404
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.974300779909782,
-6.158348687929771,
-0.9372198913028986,
7.72648621136195,
2.7633629906846036,
2.998722365641371,
-0.0012340715130259644
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.817121505737305,
7.411265850067139,
-0.9327678084373474,
0.8076283931732178,
0.7746334075927734,
1.8017818927764893,
-2.0815770626068115
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
20.595569610595703,
4.978952884674072,
-1.0387712717056274,
0.8303391337394714,
0.7837018966674805,
1.7567988634109497,
3.076589822769165
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.879720687866211,
5.987485885620117,
-1.0071197748184204,
0.7678998708724976,
0.7387264966964722,
1.7181764841079712,
-2.5626087188720703
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.335549891214754,
5.269755360281531,
-1.0263073255831738,
0.7912366246226927,
0.7573417992143955,
1.716516267891574,
-2.610843656830079
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
21.960670805454754,
6.771543918024635,
-0.786931537225704,
0.7979381660501798,
0.773536802584604,
1.8333556863534717,
3.0176743064964553
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
14.495877094336322,
2.5131564943426454,
-1.1815997425088487,
0.7864700845619786,
0.7654163136857411,
1.7453458156110453,
-2.19481498376592
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999759671999191,
0.006437065494759142,
0.0025747253062431,
-207.29420149574048
],
[
-0.006487943915280589,
0.9997735669376385,
0.020266263507206138,
2.3840874644284336
],
[
-0.0024436870377773346,
-0.020282481125531042,
0.9997913028992871,
1.792122755900722
],
[
0,
0,
0,
1
]
],
"timestamp": 2180
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006148/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": [
767,
395,
941,
513
],
"bbox_3d": [
20.85473313831454,
-3.1774114517001935,
-1.4099387280771434,
4.6147289867338435,
1.9567404580293006,
1.6213658063969396,
0.06007575462556206,
0.999064028263092,
1
],
"class": "car",
"description": "1. Appearance: sedan, white, rear view visible\n2. Motion state: moving away from camera\n3. Position to viewer: center-right, slightly right, near the right edge of the view; rear facing observer\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a traffic light to the left of the target\n5. Summary: white sedan, rear facing observer, moving away from camera, located at center-right of the view, near a pedestrian and a traffic light"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000123/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/000123/lidar.bin",
"others": [
{
"bbox_3d_other": [
20.608943055602083,
5.515463905978246,
-0.9774122003096062,
0.8423441536351798,
0.7897583263646074,
1.7925948521457657,
-0.12833008603043122
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998947168383192,
0.007773174717935548,
-0.012252876952859992,
5.086646070508905
],
[
-0.007710681600316052,
0.9999570655810649,
0.005139297983613395,
-0.1086281708252751
],
[
0.0122922995438619,
-0.005044278869201507,
0.9999117234149292,
0.0069392928390021626
],
[
0,
0,
0,
1
]
],
"timestamp": 380
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/000123/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": [
115,
351,
186,
468
],
"bbox_3d": [
18.423670088050585,
7.835492629448861,
-0.6732989944973027,
0.8455308227491682,
0.7863990987416253,
1.7592682056186624,
-2.0417900083974723,
0.9815254807472229,
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: top-left, slightly left of center, partially occluded by the green bounding box; side profile facing observer\n4. Relationship with surrounding objects: a white truck to the right front of the target, a pedestrian to the left front of the target\n5. Summary: A pedestrian wearing a dark top and light pants with a backpack, seen in side profile, is moving left in the frame on the sidewalk in the top-left area, with a white truck 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_ucity_small_loop/006316/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006316/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.399900436401367,
7.94076681137085,
-0.47962668538093567,
5.953433036804199,
2.338841438293457,
2.3329362869262695,
-6.461647033691406
],
"class_other": "Car"
},
{
"bbox_3d_other": [
35.40348552939979,
-8.559270695270353,
-0.8990950191313754,
5.696919724008382,
2.275258494703535,
2.064095668244158,
-0.03612773517492607
],
"class_other": "Car"
},
{
"bbox_3d_other": [
26.969879317583462,
13.89209751498548,
-0.3342426682348978,
4.60336144913815,
1.9967750639967026,
1.772379416667109,
0.1420911696062431
],
"class_other": "Car"
},
{
"bbox_3d_other": [
6.97310733795166,
-2.983295440673828,
-1.351274013519287,
0.8503872752189636,
0.8143913149833679,
1.8173781633377075,
-1.91605544090271
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
10.337398529052734,
5.420831203460693,
-0.9626501798629761,
0.8223352432250977,
0.7712286710739136,
1.7495579719543457,
-9.2133207321167
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
17.318924198797816,
1.7259373715544517,
-1.2081490725516877,
0.860490986077841,
0.804455447074419,
1.778298170126646,
0.42003776878589977
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
16.50638260172792,
9.445277823954271,
-0.6176832313289907,
0.8344988943139151,
0.7713662175453988,
1.7449613258357162,
0.9213969868498947
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9999910843044709,
0.004222299884916971,
-0.00005912064335762316,
-138.20860544689853
],
[
-0.004220298344637072,
0.9997946048748578,
0.019822642230770838,
1.669793367411684
],
[
0.00014280564027541624,
-0.01982221599137483,
0.999803510375784,
1.47135467158606
],
[
0,
0,
0,
1
]
],
"timestamp": 2375
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006316/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": [
823,
380,
964,
491
],
"bbox_3d": [
23.695580898270094,
-4.415926132200818,
-1.2720250468962835,
4.75399980779554,
2.06369698243063,
1.844678250981159,
6.232058246667141,
0.9758198857307434,
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: right-center, slightly right, near the right edge of the view; rear facing observer, side facing observer; partially occluded by the car in front, slightly blurred\n4. Relationship with surrounding objects: a gray SUV to the left front of the target, a white truck to the left of the target, a building to the right of the target\n5. Summary: dark-colored SUV, rear facing observer, stationary, located in the right-center of the view, partially occluded by the car in front, with a gray SUV to its left front and a white truck 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_ucity_small_loop/004311/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/004311/lidar.bin",
"others": [
{
"bbox_3d_other": [
9.56321907043457,
-0.10019063949584961,
-1.2556136846542358,
4.791685581207275,
2.06921124458313,
1.8736810684204102,
-0.036032676696777344
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.407177925109863,
3.88200306892395,
-1.0535889863967896,
5.662932872772217,
2.29178786277771,
2.249286651611328,
6.233962059020996
],
"class_other": "Car"
},
{
"bbox_3d_other": [
22.931025910031877,
2.9686147062517705,
-0.9769703998666479,
5.575812816619873,
2.382014709417937,
2.516902584521497,
6.222980518742707
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.302007430652395,
3.801139828585036,
-1.5340536320833884,
4.384109383723775,
1.9111052751541138,
1.6190344832959722,
6.219422079563015
],
"class_other": "Car"
},
{
"bbox_3d_other": [
13.216187832102293,
-3.8142285861910636,
-1.4683268532025675,
4.397178495516543,
1.9250192710610687,
1.6736438069187227,
6.227098774581792
],
"class_other": "Car"
},
{
"bbox_3d_other": [
10.322060696000165,
-6.619971586411992,
-1.49228050222845,
4.518914194007629,
1.9736685657993984,
1.678528876668796,
6.202373337942436
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.773642060192742,
-10.049555989216827,
-1.1898922957083702,
0.7130122863855518,
0.7165293994008518,
1.8472779911072528,
4.929118550601974
],
"class_other": "Pedestrian"
}
],
"pose": [
[
-0.9994106496222496,
0.02335384868781037,
0.025158520884588285,
-200.7793070390077
],
[
-0.02463927204464222,
-0.9983401319071857,
-0.05205657784231787,
177.28709838412922
],
[
0.023901039616374842,
-0.05264578591881828,
0.9983271816044311,
4.542249557723259
],
[
0,
0,
0,
1
]
],
"timestamp": 4504
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/004311/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": [
547,
397,
939,
759
],
"bbox_3d": [
9.041920462994327,
-0.44777515284430014,
-1.2822194110426384,
4.7765527788743904,
2.0525660532542656,
1.8394803756207188,
0.003009226757609774,
0.9991319179534912,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark green, with rear lights on\n2. Motion state: stationary\n3. Position to viewer: bottom-center, slightly right, rear facing observer; the target is partially occluded by the green bounding box and appears slightly blurred\n4. Relationship with surrounding objects: a pedestrian to the left front of the target, a white car to the right, a bus to the left rear\n5. Summary: dark green SUV, rear facing observer, stationary at bottom-center of the view, partially occluded, 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_ucity_small_loop/001949/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001949/lidar.bin",
"others": [
{
"bbox_3d_other": [
27.95305061340332,
-4.555241584777832,
-1.0246270895004272,
4.932586669921875,
2.0349466800689697,
1.6567744016647339,
-4.770803928375244
],
"class_other": "Car"
},
{
"bbox_3d_other": [
21.652647018432617,
7.729406833648682,
-0.7550430297851562,
5.81174898147583,
2.254112720489502,
2.0279154777526855,
4.715014457702637
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.302221279348776,
-3.2422369642151536,
-1.352513196662586,
4.68285783497854,
2.023749393027389,
1.7240228334964662,
-0.010077738005492044
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.874446787093103,
8.403058759851536,
-0.207591524852069,
8.35470715948529,
2.8079255722647827,
3.0831244675210425,
-1.55785864168154
],
"class_other": "Car"
},
{
"bbox_3d_other": [
15.702592220532992,
-2.779391278104799,
-1.230768551480413,
0.8324349557994867,
0.789415412018945,
1.7347388619211954,
1.6265422917032943
],
"class_other": "Pedestrian"
},
{
"bbox_3d_other": [
15.844930152079595,
6.014082898702197,
-0.7813329581794952,
0.9582555338996592,
0.8617995215806347,
1.9063185870614703,
1.607141544436177
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.9998806723095544,
0.015052691485466271,
0.0034724085066521293,
-4.125673890769463
],
[
-0.015047028293265891,
0.9998854234880282,
-0.0016513133283445295,
-0.3732841348421558
],
[
-0.0034968673602747045,
0.0015988668518934844,
0.9999926077444047,
1.5439104154178727
],
[
0,
0,
0,
1
]
],
"timestamp": 2716
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001949/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": [
239,
383,
334,
532
],
"bbox_3d": [
14.175261529565542,
4.253908256606074,
-1.0750185161708594,
0.7946926830458356,
0.7498296961318778,
1.6496116771190403,
2.5907018560539266,
0.9406397342681885,
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: 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 pedestrian to the right front of the target, a white bus 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 left-center of the view, side profile facing observer, partially occluded by a pole, with a pedestrian to the right front and a white bus to the left rear"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006500/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/006500/lidar.bin",
"others": [
{
"bbox_3d_other": [
21.366825103759766,
9.17294692993164,
-0.898559033870697,
4.598898410797119,
1.9769344329833984,
1.6792881488800049,
4.720385551452637
],
"class_other": "Car"
},
{
"bbox_3d_other": [
3.2193605739219255,
-3.235194526967789,
-1.3481836384375254,
4.658752684721627,
2.0151538988567657,
1.709937658913246,
-0.0038182852727211593
],
"class_other": "Car"
},
{
"bbox_3d_other": [
9.022770083790341,
-0.446292758300718,
-1.276460880959283,
4.772211375924763,
2.049103823024685,
1.8296319209799645,
-0.005198869706417485
],
"class_other": "Car"
},
{
"bbox_3d_other": [
29.482086531974335,
3.069718507797805,
-0.7145888459157274,
4.748606706510881,
2.0103337908141783,
1.7300378021978693,
1.499250440304113
],
"class_other": "Car"
},
{
"bbox_3d_other": [
24.872854936066226,
8.367638503486948,
-0.19985285639739891,
8.281338269879083,
2.80512088295101,
3.0722993412409836,
-1.5596336383635412
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.134933904126573,
-5.836839479137958,
-1.4100408049596787,
4.593485669997283,
1.9878578431818674,
1.6673801338450853,
-0.0504894376135855
],
"class_other": "Car"
},
{
"bbox_3d_other": [
37.83536960451722,
20.03259658280693,
-0.11743212042539364,
4.6586932858722525,
2.00519225289037,
1.6863800172801098,
0.04194112881807095
],
"class_other": "Car"
},
{
"bbox_3d_other": [
16.392843133936495,
1.0452283549557218,
-1.0975316898721958,
0.8610281897575035,
0.7995319006243579,
1.7445973970942112,
-1.5790986258573179
],
"class_other": "Pedestrian"
}
],
"pose": [
[
0.999880653223975,
0.014980381196911158,
0.0037772327955974635,
-4.12755767886674
],
[
-0.01497379391829435,
0.9998863264942418,
-0.001766234849318615,
-0.37133642555941265
],
[
-0.0038032622956295846,
0.0017094645494209468,
0.9999913064256433,
1.544148324975045
],
[
0,
0,
0,
1
]
],
"timestamp": 2768
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/006500/meta_info | hf://datasets/RRRong/ToLA@802d6e6cf122f3e524f9760b50e3722bcfcd3cfb/qwen3_talk2event_jsons.tar.gz |
{
"camera_distortion": [
-0.41688043927413904,
0.18993707571783877,
0.0002601670872357164,
0.0001425076137757676
],
"extristric": [
[
0.0010484307570165616,
-0.9999847206447054,
-0.005427639458589421,
0.030630311129695317
],
[
0.0029214021106695382,
0.0054306821246087895,
-0.9999809863699327,
-0.11365694067971296
],
[
0.9999951830897337,
0.0010325545051716606,
0.002927051167699757,
-0.14939053203531258
],
[
0,
0,
0,
1
]
],
"ground_info": [
{
"bbox_2d_proj": [
835,
387,
1004,
519
],
"bbox_3d": [
20.043337411677555,
-4.117648631894467,
-1.3388700413785564,
4.791223341582483,
2.048191736386775,
1.795781379204545,
6.221857701122559,
0.9954783916473389,
1
],
"class": "car",
"description": "1. Appearance: SUV, dark-colored, with visible rear lights and a rear windshield wiper \n2. Motion state: stationary \n3. Position to viewer: right-center, slightly right, near the right edge of the view; rear facing observer, side facing observer \n4. Relationship with surrounding objects: a gray car to the left front of the target, a white truck to the left of the target \n5. Summary: dark-colored SUV, rear facing observer, located on the right side of the road, with a gray car to its left front and a white truck further 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_ucity_small_loop/003623/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/003623/lidar.bin",
"others": [
{
"bbox_3d_other": [
11.921764373779297,
-6.652471542358398,
-1.4160254001617432,
4.469163417816162,
1.9648864269256592,
1.7396432161331177,
6.196176052093506
],
"class_other": "Car"
},
{
"bbox_3d_other": [
8.972940444946289,
-0.08661437034606934,
-1.284741759300232,
4.751478672027588,
2.046994686126709,
1.836767554283142,
-6.327369689941406
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.080365180969238,
-3.8468880653381348,
-1.4530144929885864,
4.413034439086914,
1.9353512525558472,
1.6980026960372925,
6.222329616546631
],
"class_other": "Car"
},
{
"bbox_3d_other": [
25.231889724731445,
2.8262603282928467,
-0.938284158706665,
6.198639869689941,
2.4898808002471924,
2.5934834480285645,
6.224695682525635
],
"class_other": "Car"
},
{
"bbox_3d_other": [
12.092926803664682,
3.8394660677934667,
-1.0446394485698232,
5.679429314858231,
2.2926479652284426,
2.253520474601538,
6.21110934214111
],
"class_other": "Car"
},
{
"bbox_3d_other": [
18.037649815083057,
3.6740405789895476,
-1.5841847904645743,
4.397900779781755,
1.9147693376422195,
1.5945153045689204,
6.219150724869182
],
"class_other": "Car"
}
],
"pose": [
[
-0.9992912846633085,
0.027170514039825653,
0.02605170940199835,
-199.09190087371158
],
[
-0.028555725396754186,
-0.9981128375936298,
-0.05436298352608588,
177.30108132085132
],
[
0.024525475388250895,
-0.05506838110571214,
0.9981813334556885,
4.493111891171643
],
[
0,
0,
0,
1
]
],
"timestamp": 4176
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/003623/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": [
964,
387,
1108,
478
],
"bbox_3d": [
24.337810329699003,
-7.5306445788897065,
-1.3124269808626225,
4.367999356301104,
1.907134061465498,
1.578989068015677,
-0.046401320338595786,
0.8424676656723022,
1
],
"class": "car",
"description": "1. Appearance: car, black, with visible side profile and windows\n2. Motion state: stationary\n3. Position to viewer: bottom-right, near the right edge of the view, partially occluded by a white van; side facing observer\n4. Relationship with surrounding objects: a white van to the left front of the target, a black car to the left rear of the target\n5. Summary: black car parked on the right side of the road, partially occluded by a white van, side facing observer, stationary, located near the right edge of the view"
}
],
"image_intrinsic": [
[
1264.000838881704,
0,
650.7648404655488
],
[
0,
1263.5759800610492,
366.8843553970793
],
[
0,
0,
1
]
],
"image_path": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001357/image.jpg",
"lidar_path_proj": "3eed_new_version/M3ED-Car/Urban_Day_ucity_small_loop/001357/lidar.bin",
"others": [
{
"bbox_3d_other": [
30.045541763305664,
-7.755692481994629,
-0.9044695496559143,
4.647085666656494,
2.0162265300750732,
1.7911603450775146,
6.29207181930542
],
"class_other": "Car"
},
{
"bbox_3d_other": [
14.220315328508121,
-7.145461196901465,
-0.9222968561581192,
5.55371690916266,
2.2855164281455234,
2.354310516685307,
-0.08065166920921718
],
"class_other": "Car"
},
{
"bbox_3d_other": [
19.730926934143284,
-7.326152825059808,
-1.3831122282698076,
4.4537103913146066,
1.924563256164664,
1.5630951371367119,
-0.0176364888277023
],
"class_other": "Car"
},
{
"bbox_3d_other": [
4.185701728839717,
4.4195170370471715,
-1.383064722777955,
4.468417258649288,
1.9532745969630303,
1.710275976765317,
-0.06784360162938663
],
"class_other": "Car"
}
],
"pose": [
[
0.026867869681059697,
0.9996362557800467,
0.0023395958733645403,
-241.90265333815438
],
[
-0.9992389399757173,
0.026923251082055955,
-0.028225509514924488,
80.91945681072625
],
[
-0.028278232176112333,
-0.0015794559891438454,
0.9995988429884121,
2.7606664833502244
],
[
0,
0,
0,
1
]
],
"timestamp": 1972
} | outputs_qwen3_talk2event/M3ED-Car/Urban_Day_ucity_small_loop/001357/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.