intermediate_spatial_representations/0796447f4b.json

{
  "scene_id": "0796447f4b",
  "dataset": "scannetpp",
  "small_items": [
    {
      "object_id": 17,
      "label": "toothbrush",
      "centroid": [
        0.1016,
        0.739,
        1.2523
      ],
      "nearby_objects": [
        {
          "object_id": 16,
          "label": "soap",
          "centroid": [
            0.083,
            0.6377,
            1.2165
          ],
          "centroid_distance_m": 0.109,
          "spatial_3d": {
            "edge_distance_cm": 5.6,
            "center_distance_cm": 10.9,
            "nearest_point_small": [
              0.0786,
              0.7139,
              1.1404
            ],
            "nearest_point_nearby": [
              0.0668,
              0.6698,
              1.1729
            ],
            "direction_unit_vector": [
              -0.1702,
              -0.9291,
              -0.3284
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.58,
            "horizontal_distance_cm": 10.3
          }
        },
        {
          "object_id": 15,
          "label": "soap",
          "centroid": [
            0.1336,
            0.5437,
            1.2208
          ],
          "centroid_distance_m": 0.2003,
          "spatial_3d": {
            "edge_distance_cm": 15.18,
            "center_distance_cm": 20.03,
            "nearest_point_small": [
              0.1024,
              0.728,
              1.1991
            ],
            "nearest_point_nearby": [
              0.1191,
              0.5775,
              1.21
            ],
            "direction_unit_vector": [
              0.1597,
              -0.9746,
              -0.1571
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.15,
            "horizontal_distance_cm": 19.78
          }
        },
        {
          "object_id": 21,
          "label": "sill",
          "centroid": [
            0.1646,
            0.4528,
            1.1428
          ],
          "centroid_distance_m": 0.3128,
          "spatial_3d": {
            "edge_distance_cm": 0.27,
            "center_distance_cm": 31.28,
            "nearest_point_small": [
              0.0806,
              0.7387,
              1.1426
            ],
            "nearest_point_nearby": [
              0.0789,
              0.7397,
              1.1406
            ],
            "direction_unit_vector": [
              0.2015,
              -0.9148,
              -0.3501
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 10.95,
            "horizontal_distance_cm": 29.3
          }
        },
        {
          "object_id": 19,
          "label": "faucet",
          "centroid": [
            0.3225,
            0.4172,
            0.8955
          ],
          "centroid_distance_m": 0.5288,
          "spatial_3d": {
            "edge_distance_cm": 36.1,
            "center_distance_cm": 52.88,
            "nearest_point_small": [
              0.112,
              0.7293,
              1.1387
            ],
            "nearest_point_nearby": [
              0.397,
              0.548,
              1.0112
            ],
            "direction_unit_vector": [
              0.4177,
              -0.6085,
              -0.6748
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 35.68,
            "horizontal_distance_cm": 39.03
          }
        },
        {
          "object_id": 18,
          "label": "sink",
          "centroid": [
            0.443,
            0.6038,
            0.7548
          ],
          "centroid_distance_m": 0.6183,
          "spatial_3d": {
            "edge_distance_cm": 31.2,
            "center_distance_cm": 61.83,
            "nearest_point_small": [
              0.112,
              0.7293,
              1.1387
            ],
            "nearest_point_nearby": [
              0.1571,
              0.7407,
              0.8301
            ],
            "direction_unit_vector": [
              0.5521,
              -0.2187,
              -0.8046
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 49.75,
            "horizontal_distance_cm": 36.72
          }
        },
        {
          "object_id": 35,
          "label": "object",
          "centroid": [
            0.5111,
            0.2133,
            1.4686
          ],
          "centroid_distance_m": 0.7006,
          "spatial_3d": {
            "edge_distance_cm": 63.31,
            "center_distance_cm": 70.06,
            "nearest_point_small": [
              0.0995,
              0.7314,
              1.3711
            ],
            "nearest_point_nearby": [
              0.5478,
              0.2931,
              1.459
            ],
            "direction_unit_vector": [
              0.5845,
              -0.7504,
              0.3087
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -21.63,
            "horizontal_distance_cm": 66.64
          }
        },
        {
          "object_id": 34,
          "label": "shelf",
          "centroid": [
            0.5533,
            0.2032,
            1.4353
          ],
          "centroid_distance_m": 0.7243,
          "spatial_3d": {
            "edge_distance_cm": 54.68,
            "center_distance_cm": 72.43,
            "nearest_point_small": [
              0.095,
              0.7284,
              1.3726
            ],
            "nearest_point_nearby": [
              0.2579,
              0.2095,
              1.4295
            ],
            "direction_unit_vector": [
              0.6237,
              -0.7397,
              0.2527
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -18.3,
            "horizontal_distance_cm": 70.08
          }
        },
        {
          "object_id": 23,
          "label": "shelf",
          "centroid": [
            0.448,
            1.3317,
            1.5061
          ],
          "centroid_distance_m": 0.7319,
          "spatial_3d": {
            "edge_distance_cm": 42.5,
            "center_distance_cm": 73.19,
            "nearest_point_small": [
              0.1006,
              0.7402,
              1.3722
            ],
            "nearest_point_nearby": [
              0.2153,
              1.127,
              1.506
            ],
            "direction_unit_vector": [
              0.4733,
              0.8098,
              0.3468
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -25.38,
            "horizontal_distance_cm": 68.65
          }
        },
        {
          "object_id": 36,
          "label": "object",
          "centroid": [
            0.3218,
            0.0891,
            1.5352
          ],
          "centroid_distance_m": 0.7422,
          "spatial_3d": {
            "edge_distance_cm": 66.76,
            "center_distance_cm": 74.22,
            "nearest_point_small": [
              0.095,
              0.7284,
              1.3726
            ],
            "nearest_point_nearby": [
              0.31,
              0.1025,
              1.4604
            ],
            "direction_unit_vector": [
              0.2967,
              -0.8756,
              0.3812
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -28.29,
            "horizontal_distance_cm": 68.61
          }
        },
        {
          "object_id": 33,
          "label": "wall light",
          "centroid": [
            0.1266,
            0.4882,
            1.9865
          ],
          "centroid_distance_m": 0.7762,
          "spatial_3d": {
            "edge_distance_cm": 60.19,
            "center_distance_cm": 77.62,
            "nearest_point_small": [
              0.0918,
              0.7324,
              1.3788
            ],
            "nearest_point_nearby": [
              0.0742,
              0.7231,
              1.9803
            ],
            "direction_unit_vector": [
              0.0323,
              -0.323,
              0.9458
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -73.42,
            "horizontal_distance_cm": 25.2
          }
        },
        {
          "object_id": 11,
          "label": "object",
          "centroid": [
            0.5536,
            0.1515,
            1.0216
          ],
          "centroid_distance_m": 0.7763,
          "spatial_3d": {
            "edge_distance_cm": 70.64,
            "center_distance_cm": 77.63,
            "nearest_point_small": [
              0.112,
              0.7293,
              1.1387
            ],
            "nearest_point_nearby": [
              0.5356,
              0.1765,
              1.0203
            ],
            "direction_unit_vector": [
              0.5822,
              -0.7568,
              -0.2971
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 23.06,
            "horizontal_distance_cm": 74.12
          }
        },
        {
          "object_id": 9,
          "label": "towel",
          "centroid": [
            0.7081,
            0.2335,
            1.014
          ],
          "centroid_distance_m": 0.8247,
          "spatial_3d": {
            "edge_distance_cm": 72.38,
            "center_distance_cm": 82.47,
            "nearest_point_small": [
              0.112,
              0.7293,
              1.1387
            ],
            "nearest_point_nearby": [
              0.648,
              0.2558,
              1.0271
            ],
            "direction_unit_vector": [
              0.7354,
              -0.6129,
              -0.2889
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 23.83,
            "horizontal_distance_cm": 78.95
          }
        },
        {
          "object_id": 29,
          "label": "toilet paper",
          "centroid": [
            0.4606,
            1.4479,
            0.974
          ],
          "centroid_distance_m": 0.8419,
          "spatial_3d": {
            "edge_distance_cm": 74.19,
            "center_distance_cm": 84.19,
            "nearest_point_small": [
              0.1064,
              0.7506,
              1.162
            ],
            "nearest_point_nearby": [
              0.4197,
              1.4047,
              1.0059
            ],
            "direction_unit_vector": [
              0.4264,
              0.842,
              -0.3305
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 27.82,
            "horizontal_distance_cm": 79.46
          }
        },
        {
          "object_id": 27,
          "label": "toilet paper dispenser",
          "centroid": [
            0.3091,
            1.2695,
            0.6095
          ],
          "centroid_distance_m": 0.8589,
          "spatial_3d": {
            "edge_distance_cm": 69.62,
            "center_distance_cm": 85.89,
            "nearest_point_small": [
              0.0981,
              0.7502,
              1.1422
            ],
            "nearest_point_nearby": [
              0.2861,
              1.2274,
              0.6715
            ],
            "direction_unit_vector": [
              0.2416,
              0.6177,
              -0.7484
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 64.28,
            "horizontal_distance_cm": 56.97
          }
        },
        {
          "object_id": 24,
          "label": "cleaning product",
          "centroid": [
            0.4847,
            1.3993,
            1.7219
          ],
          "centroid_distance_m": 0.8963,
          "spatial_3d": {
            "edge_distance_cm": 75.6,
            "center_distance_cm": 89.63,
            "nearest_point_small": [
              0.1006,
              0.7402,
              1.3722
            ],
            "nearest_point_nearby": [
              0.4566,
              1.3745,
              1.5786
            ],
            "direction_unit_vector": [
              0.4275,
              0.7367,
              0.524
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -46.96,
            "horizontal_distance_cm": 76.34
          }
        },
        {
          "object_id": 37,
          "label": "object",
          "centroid": [
            0.8512,
            0.2271,
            1.4846
          ],
          "centroid_distance_m": 0.937,
          "spatial_3d": {
            "edge_distance_cm": 89.59,
            "center_distance_cm": 93.7,
            "nearest_point_small": [
              0.0995,
              0.7314,
              1.3711
            ],
            "nearest_point_nearby": [
              0.8275,
              0.2168,
              1.4605
            ],
            "direction_unit_vector": [
              0.8,
              -0.5463,
              0.248
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -23.24,
            "horizontal_distance_cm": 90.77
          }
        },
        {
          "object_id": 10,
          "label": "towel",
          "centroid": [
            0.8567,
            0.2516,
            0.978
          ],
          "centroid_distance_m": 0.9396,
          "spatial_3d": {
            "edge_distance_cm": 84.66,
            "center_distance_cm": 93.96,
            "nearest_point_small": [
              0.112,
              0.7293,
              1.1387
            ],
            "nearest_point_nearby": [
              0.8037,
              0.2431,
              1.0955
            ],
            "direction_unit_vector": [
              0.8036,
              -0.5187,
              -0.2919
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 27.43,
            "horizontal_distance_cm": 89.87
          }
        },
        {
          "object_id": 30,
          "label": "object",
          "centroid": [
            0.5147,
            1.5461,
            0.9547
          ],
          "centroid_distance_m": 0.9543,
          "spatial_3d": {
            "edge_distance_cm": 85.35,
            "center_distance_cm": 95.43,
            "nearest_point_small": [
              0.0981,
              0.7502,
              1.1422
            ],
            "nearest_point_nearby": [
              0.4263,
              1.5033,
              0.9107
            ],
            "direction_unit_vector": [
              0.4329,
              0.8457,
              -0.3119
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 29.76,
            "horizontal_distance_cm": 90.67
          }
        },
        {
          "object_id": 12,
          "label": "bath cabinet",
          "centroid": [
            0.4277,
            0.73,
            0.3231
          ],
          "centroid_distance_m": 0.9848,
          "spatial_3d": {
            "edge_distance_cm": 54.3,
            "center_distance_cm": 98.48,
            "nearest_point_small": [
              0.112,
              0.7293,
              1.1387
            ],
            "nearest_point_nearby": [
              0.2812,
              0.7949,
              0.6269
            ],
            "direction_unit_vector": [
              0.3312,
              -0.0091,
              -0.9435
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 92.92,
            "horizontal_distance_cm": 32.63
          }
        }
      ]
    }
  ]
}