Datasets:

RainChow
/

PinpointQA

	{
	"scene_id": "07b8312ea9",
	"dataset": "scannetpp",
	"small_items": [
	{
	"object_id": 44,
	"label": "backpack",
	"centroid": [
	4.1833,
	1.9173,
	0.2399
	],
	"nearby_objects": [
	{
	"object_id": 69,
	"label": "bag",
	"centroid": [
	3.7762,
	2.2829,
	0.3314
	],
	"centroid_distance_m": 0.5548,
	"spatial_3d": {
	"edge_distance_cm": 22.75,
	"center_distance_cm": 55.48,
	"nearest_point_small": [
	4.0455,
	1.9787,
	0.1145
	],
	"nearest_point_nearby": [
	3.9129,
	2.1632,
	0.1032
	],
	"direction_unit_vector": [
	-0.7338,
	0.6591,
	0.1648
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.14,
	"horizontal_distance_cm": 54.72
	}
	},
	{
	"object_id": 67,
	"label": "trash bag",
	"centroid": [
	3.6169,
	2.5205,
	0.1917
	],
	"centroid_distance_m": 0.8289,
	"spatial_3d": {
	"edge_distance_cm": 53.47,
	"center_distance_cm": 82.89,
	"nearest_point_small": [
	4.134,
	2.0708,
	0.2874
	],
	"nearest_point_nearby": [
	3.8409,
	2.5112,
	0.2104
	],
	"direction_unit_vector": [
	-0.6833,
	0.7278,
	-0.0582
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 4.83,
	"horizontal_distance_cm": 82.75
	}
	},
	{
	"object_id": 19,
	"label": "REMOVE",
	"centroid": [
	3.5781,
	2.4815,
	0.3298
	],
	"centroid_distance_m": 0.8323,
	"spatial_3d": {
	"edge_distance_cm": 68.83,
	"center_distance_cm": 83.23,
	"nearest_point_small": [
	4.134,
	2.0708,
	0.2874
	],
	"nearest_point_nearby": [
	3.5798,
	2.4766,
	0.332
	],
	"direction_unit_vector": [
	-0.7271,
	0.678,
	0.1079
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -8.98,
	"horizontal_distance_cm": 82.75
	}
	}
	]
	},
	{
	"object_id": 57,
	"label": "cup",
	"centroid": [
	0.6762,
	2.4555,
	0.8862
	],
	"nearby_objects": [
	{
	"object_id": 56,
	"label": "object",
	"centroid": [
	0.5855,
	2.2746,
	0.8511
	],
	"centroid_distance_m": 0.2054,
	"spatial_3d": {
	"edge_distance_cm": 11.06,
	"center_distance_cm": 20.54,
	"nearest_point_small": [
	0.6545,
	2.4309,
	0.8493
	],
	"nearest_point_nearby": [
	0.5997,
	2.3349,
	0.8487
	],
	"direction_unit_vector": [
	-0.4416,
	-0.8807,
	-0.1712
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 3.52,
	"horizontal_distance_cm": 20.24
	}
	},
	{
	"object_id": 52,
	"label": "table",
	"centroid": [
	0.6637,
	2.1258,
	0.6139
	],
	"centroid_distance_m": 0.4278,
	"spatial_3d": {
	"edge_distance_cm": 0.16,
	"center_distance_cm": 42.78,
	"nearest_point_small": [
	0.6416,
	2.44,
	0.8379
	],
	"nearest_point_nearby": [
	0.6409,
	2.4392,
	0.8367
	],
	"direction_unit_vector": [
	-0.0291,
	-0.7706,
	-0.6366
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 27.24,
	"horizontal_distance_cm": 32.99
	}
	},
	{
	"object_id": 59,
	"label": "window frame",
	"centroid": [
	0.3496,
	2.3915,
	1.5215
	],
	"centroid_distance_m": 0.7172,
	"spatial_3d": {
	"edge_distance_cm": 23.92,
	"center_distance_cm": 71.72,
	"nearest_point_small": [
	0.6482,
	2.5048,
	0.9194
	],
	"nearest_point_nearby": [
	0.5706,
	2.5953,
	1.1267
	],
	"direction_unit_vector": [
	-0.4554,
	-0.0892,
	0.8858
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -63.53,
	"horizontal_distance_cm": 33.28
	}
	},
	{
	"object_id": 53,
	"label": "blanket",
	"centroid": [
	1.5599,
	2.7223,
	0.7107
	],
	"centroid_distance_m": 0.9397,
	"spatial_3d": {
	"edge_distance_cm": 40.32,
	"center_distance_cm": 93.97,
	"nearest_point_small": [
	0.7029,
	2.4795,
	0.842
	],
	"nearest_point_nearby": [
	1.0412,
	2.639,
	0.6914
	],
	"direction_unit_vector": [
	0.9405,
	0.2839,
	-0.1868
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 17.55,
	"horizontal_distance_cm": 92.31
	}
	},
	{
	"object_id": 58,
	"label": "window",
	"centroid": [
	0.6522,
	2.6332,
	1.8201
	],
	"centroid_distance_m": 0.9509,
	"spatial_3d": {
	"edge_distance_cm": 29.48,
	"center_distance_cm": 95.09,
	"nearest_point_small": [
	0.6482,
	2.5048,
	0.9194
	],
	"nearest_point_nearby": [
	0.5843,
	2.5728,
	1.1991
	],
	"direction_unit_vector": [
	-0.0252,
	0.1869,
	0.9821
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -93.39,
	"horizontal_distance_cm": 17.93
	}
	}
	]
	}
	]
	}