Datasets:

RainChow
/

PinpointQA

	{
	"scene_id": "09c1414f1b",
	"dataset": "scannetpp",
	"small_items": [
	{
	"object_id": 95,
	"label": "remote controller",
	"centroid": [
	4.8928,
	6.7372,
	0.6495
	],
	"nearby_objects": [
	{
	"object_id": 89,
	"label": "coffee table",
	"centroid": [
	4.9378,
	6.9217,
	0.4571
	],
	"centroid_distance_m": 0.2703,
	"spatial_3d": {
	"edge_distance_cm": 0.29,
	"center_distance_cm": 27.03,
	"nearest_point_small": [
	4.8626,
	6.7764,
	0.6426
	],
	"nearest_point_nearby": [
	4.863,
	6.779,
	0.6413
	],
	"direction_unit_vector": [
	0.1663,
	0.6825,
	-0.7117
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 19.24,
	"horizontal_distance_cm": 18.99
	}
	},
	{
	"object_id": 98,
	"label": "book",
	"centroid": [
	4.8076,
	6.8951,
	0.3524
	],
	"centroid_distance_m": 0.347,
	"spatial_3d": {
	"edge_distance_cm": 27.79,
	"center_distance_cm": 34.7,
	"nearest_point_small": [
	4.876,
	6.7847,
	0.6398
	],
	"nearest_point_nearby": [
	4.8711,
	6.7945,
	0.3621
	],
	"direction_unit_vector": [
	-0.2457,
	0.4549,
	-0.856
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 29.71,
	"horizontal_distance_cm": 17.94
	}
	},
	{
	"object_id": 99,
	"label": "object",
	"centroid": [
	5.091,
	6.9342,
	0.3796
	],
	"centroid_distance_m": 0.3885,
	"spatial_3d": {
	"edge_distance_cm": 27.93,
	"center_distance_cm": 38.85,
	"nearest_point_small": [
	4.9026,
	6.7551,
	0.6401
	],
	"nearest_point_nearby": [
	5.0738,
	6.8057,
	0.4253
	],
	"direction_unit_vector": [
	0.5101,
	0.5071,
	-0.6947
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 26.99,
	"horizontal_distance_cm": 27.94
	}
	},
	{
	"object_id": 96,
	"label": "coaster",
	"centroid": [
	5.2638,
	6.983,
	0.6464
	],
	"centroid_distance_m": 0.445,
	"spatial_3d": {
	"edge_distance_cm": 37.06,
	"center_distance_cm": 44.5,
	"nearest_point_small": [
	4.8916,
	6.7833,
	0.6402
	],
	"nearest_point_nearby": [
	5.2268,
	6.9415,
	0.6443
	],
	"direction_unit_vector": [
	0.8336,
	0.5523,
	-0.0069
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.31,
	"horizontal_distance_cm": 44.49
	}
	},
	{
	"object_id": 100,
	"label": "box",
	"centroid": [
	5.3609,
	6.8963,
	0.4004
	],
	"centroid_distance_m": 0.5535,
	"spatial_3d": {
	"edge_distance_cm": 45.12,
	"center_distance_cm": 55.35,
	"nearest_point_small": [
	4.9192,
	6.7087,
	0.6404
	],
	"nearest_point_nearby": [
	5.2887,
	6.8043,
	0.3997
	],
	"direction_unit_vector": [
	0.8456,
	0.2874,
	-0.4499
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 24.9,
	"horizontal_distance_cm": 49.44
	}
	},
	{
	"object_id": 97,
	"label": "object",
	"centroid": [
	4.4558,
	6.9873,
	0.3456
	],
	"centroid_distance_m": 0.5881,
	"spatial_3d": {
	"edge_distance_cm": 49.23,
	"center_distance_cm": 58.81,
	"nearest_point_small": [
	4.8626,
	6.7764,
	0.6426
	],
	"nearest_point_nearby": [
	4.5098,
	6.9592,
	0.352
	],
	"direction_unit_vector": [
	-0.7431,
	0.4252,
	-0.5167
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 30.39,
	"horizontal_distance_cm": 50.35
	}
	},
	{
	"object_id": 108,
	"label": "footstool",
	"centroid": [
	3.984,
	6.6889,
	0.4142
	],
	"centroid_distance_m": 0.94,
	"spatial_3d": {
	"edge_distance_cm": 60.55,
	"center_distance_cm": 94.0,
	"nearest_point_small": [
	4.8626,
	6.7764,
	0.6426
	],
	"nearest_point_nearby": [
	4.2684,
	6.7213,
	0.5405
	],
	"direction_unit_vector": [
	-0.9668,
	-0.0514,
	-0.2503
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 23.53,
	"horizontal_distance_cm": 91.01
	}
	}
	]
	},
	{
	"object_id": 101,
	"label": "backpack",
	"centroid": [
	5.7024,
	8.5538,
	0.4583
	],
	"nearby_objects": [
	{
	"object_id": 104,
	"label": "speaker",
	"centroid": [
	5.3129,
	8.5704,
	0.7739
	],
	"centroid_distance_m": 0.5016,
	"spatial_3d": {
	"edge_distance_cm": 30.4,
	"center_distance_cm": 50.16,
	"nearest_point_small": [
	5.583,
	8.6523,
	0.5691
	],
	"nearest_point_nearby": [
	5.34,
	8.5709,
	0.7327
	],
	"direction_unit_vector": [
	-0.7765,
	0.0331,
	0.6292
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -31.56,
	"horizontal_distance_cm": 38.99
	}
	},
	{
	"object_id": 90,
	"label": "pillow",
	"centroid": [
	6.0148,
	7.8079,
	0.7555
	],
	"centroid_distance_m": 0.8615,
	"spatial_3d": {
	"edge_distance_cm": 66.06,
	"center_distance_cm": 86.15,
	"nearest_point_small": [
	5.777,
	8.4562,
	0.454
	],
	"nearest_point_nearby": [
	5.8798,
	7.9107,
	0.8121
	],
	"direction_unit_vector": [
	0.3625,
	-0.8657,
	0.3451
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -29.73,
	"horizontal_distance_cm": 80.86
	}
	}
	]
	},
	{
	"object_id": 149,
	"label": "backpack",
	"centroid": [
	1.7959,
	3.3265,
	0.3295
	],
	"nearby_objects": [
	{
	"object_id": 148,
	"label": "carpet",
	"centroid": [
	1.4422,
	3.6434,
	0.1893
	],
	"centroid_distance_m": 0.4952,
	"spatial_3d": {
	"edge_distance_cm": 0.29,
	"center_distance_cm": 49.52,
	"nearest_point_small": [
	1.7132,
	3.4593,
	0.1924
	],
	"nearest_point_nearby": [
	1.711,
	3.4575,
	0.1918
	],
	"direction_unit_vector": [
	-0.7142,
	0.6402,
	-0.283
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 14.02,
	"horizontal_distance_cm": 47.49
	}
	},
	{
	"object_id": 152,
	"label": "shoe",
	"centroid": [
	2.2826,
	3.5125,
	0.2286
	],
	"centroid_distance_m": 0.5307,
	"spatial_3d": {
	"edge_distance_cm": 14.76,
	"center_distance_cm": 53.07,
	"nearest_point_small": [
	2.0317,
	3.4675,
	0.2024
	],
	"nearest_point_nearby": [
	2.1748,
	3.4923,
	0.1763
	],
	"direction_unit_vector": [
	0.9171,
	0.3505,
	-0.1902
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 10.09,
	"horizontal_distance_cm": 52.1
	}
	},
	{
	"object_id": 150,
	"label": "object",
	"centroid": [
	2.3518,
	3.3874,
	0.2654
	],
	"centroid_distance_m": 0.563,
	"spatial_3d": {
	"edge_distance_cm": 0.28,
	"center_distance_cm": 56.3,
	"nearest_point_small": [
	2.0214,
	3.3912,
	0.3595
	],
	"nearest_point_nearby": [
	2.0235,
	3.3904,
	0.3613
	],
	"direction_unit_vector": [
	0.9876,
	0.1082,
	-0.1139
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 6.41,
	"horizontal_distance_cm": 55.93
	}
	},
	{
	"object_id": 151,
	"label": "shoe",
	"centroid": [
	2.2938,
	3.6136,
	0.2316
	],
	"centroid_distance_m": 0.5831,
	"spatial_3d": {
	"edge_distance_cm": 20.43,
	"center_distance_cm": 58.31,
	"nearest_point_small": [
	2.0063,
	3.5251,
	0.1872
	],
	"nearest_point_nearby": [
	2.1961,
	3.6002,
	0.1787
	],
	"direction_unit_vector": [
	0.854,
	0.4924,
	-0.1679
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 9.79,
	"horizontal_distance_cm": 57.48
	}
	},
	{
	"object_id": 257,
	"label": "jar",
	"centroid": [
	2.033,
	2.9119,
	1.1075
	],
	"centroid_distance_m": 0.9129,
	"spatial_3d": {
	"edge_distance_cm": 63.84,
	"center_distance_cm": 91.29,
	"nearest_point_small": [
	1.8165,
	3.1893,
	0.488
	],
	"nearest_point_nearby": [
	2.0107,
	2.9496,
	1.0469
	],
	"direction_unit_vector": [
	0.2597,
	-0.4541,
	0.8522
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -77.8,
	"horizontal_distance_cm": 47.76
	}
	},
	{
	"object_id": 258,
	"label": "jar",
	"centroid": [
	1.999,
	2.9288,
	1.1551
	],
	"centroid_distance_m": 0.9386,
	"spatial_3d": {
	"edge_distance_cm": 67.41,
	"center_distance_cm": 93.86,
	"nearest_point_small": [
	1.7822,
	3.179,
	0.4957
	],
	"nearest_point_nearby": [
	1.9858,
	2.9496,
	1.096
	],
	"direction_unit_vector": [
	0.2165,
	-0.4236,
	0.8796
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -82.56,
	"horizontal_distance_cm": 44.65
	}
	},
	{
	"object_id": 262,
	"label": "jar",
	"centroid": [
	1.798,
	2.8575,
	1.1612
	],
	"centroid_distance_m": 0.9549,
	"spatial_3d": {
	"edge_distance_cm": 66.77,
	"center_distance_cm": 95.48,
	"nearest_point_small": [
	1.7295,
	3.1627,
	0.5016
	],
	"nearest_point_nearby": [
	1.7931,
	2.8574,
	1.092
	],
	"direction_unit_vector": [
	0.0023,
	-0.4911,
	0.8711
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -83.18,
	"horizontal_distance_cm": 46.9
	}
	},
	{
	"object_id": 259,
	"label": "jar",
	"centroid": [
	1.9447,
	2.9038,
	1.174
	],
	"centroid_distance_m": 0.956,
	"spatial_3d": {
	"edge_distance_cm": 67.2,
	"center_distance_cm": 95.6,
	"nearest_point_small": [
	1.762,
	3.1325,
	0.4832
	],
	"nearest_point_nearby": [
	1.9239,
	2.9029,
	1.0936
	],
	"direction_unit_vector": [
	0.1557,
	-0.4421,
	0.8833
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -84.45,
	"horizontal_distance_cm": 44.81
	}
	},
	{
	"object_id": 264,
	"label": "jar",
	"centroid": [
	1.7313,
	2.8213,
	1.1482
	],
	"centroid_distance_m": 0.9642,
	"spatial_3d": {
	"edge_distance_cm": 68.38,
	"center_distance_cm": 96.42,
	"nearest_point_small": [
	1.7234,
	3.1619,
	0.5014
	],
	"nearest_point_nearby": [
	1.7276,
	2.8221,
	1.0948
	],
	"direction_unit_vector": [
	-0.0669,
	-0.524,
	0.8491
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -81.87,
	"horizontal_distance_cm": 50.93
	}
	},
	{
	"object_id": 256,
	"label": "jar",
	"centroid": [
	2.0076,
	2.8691,
	1.1575
	],
	"centroid_distance_m": 0.9693,
	"spatial_3d": {
	"edge_distance_cm": 69.89,
	"center_distance_cm": 96.93,
	"nearest_point_small": [
	1.7806,
	3.1324,
	0.4775
	],
	"nearest_point_nearby": [
	1.9843,
	2.8654,
	1.0905
	],
	"direction_unit_vector": [
	0.2185,
	-0.4718,
	0.8542
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -82.8,
	"horizontal_distance_cm": 50.4
	}
	},
	{
	"object_id": 265,
	"label": "jar",
	"centroid": [
	1.6748,
	2.7912,
	1.1292
	],
	"centroid_distance_m": 0.9699,
	"spatial_3d": {
	"edge_distance_cm": 70.2,
	"center_distance_cm": 96.99,
	"nearest_point_small": [
	1.7234,
	3.1619,
	0.5014
	],
	"nearest_point_nearby": [
	1.6982,
	2.7936,
	1.0985
	],
	"direction_unit_vector": [
	-0.1248,
	-0.5519,
	0.8245
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -79.97,
	"horizontal_distance_cm": 54.88
	}
	},
	{
	"object_id": 260,
	"label": "jar",
	"centroid": [
	1.8632,
	2.814,
	1.1559
	],
	"centroid_distance_m": 0.9748,
	"spatial_3d": {
	"edge_distance_cm": 69.68,
	"center_distance_cm": 97.48,
	"nearest_point_small": [
	1.762,
	3.1325,
	0.4832
	],
	"nearest_point_nearby": [
	1.8639,
	2.8091,
	1.0919
	],
	"direction_unit_vector": [
	0.069,
	-0.5258,
	0.8478
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -82.64,
	"horizontal_distance_cm": 51.69
	}
	},
	{
	"object_id": 261,
	"label": "jar",
	"centroid": [
	1.79,
	2.8127,
	1.158
	],
	"centroid_distance_m": 0.9749,
	"spatial_3d": {
	"edge_distance_cm": 67.23,
	"center_distance_cm": 97.49,
	"nearest_point_small": [
	1.7295,
	3.1627,
	0.5016
	],
	"nearest_point_nearby": [
	1.7858,
	2.8587,
	1.0986
	],
	"direction_unit_vector": [
	-0.0061,
	-0.527,
	0.8499
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -82.85,
	"horizontal_distance_cm": 51.38
	}
	},
	{
	"object_id": 170,
	"label": "slipper",
	"centroid": [
	2.7637,
	3.5302,
	0.2813
	],
	"centroid_distance_m": 0.9902,
	"spatial_3d": {
	"edge_distance_cm": 66.39,
	"center_distance_cm": 99.02,
	"nearest_point_small": [
	2.0604,
	3.3799,
	0.3376
	],
	"nearest_point_nearby": [
	2.7162,
	3.4686,
	0.2849
	],
	"direction_unit_vector": [
	0.9774,
	0.2058,
	-0.0487
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 4.82,
	"horizontal_distance_cm": 98.91
	}
	},
	{
	"object_id": 263,
	"label": "jar",
	"centroid": [
	1.7342,
	2.7928,
	1.1644
	],
	"centroid_distance_m": 0.9928,
	"spatial_3d": {
	"edge_distance_cm": 69.4,
	"center_distance_cm": 99.28,
	"nearest_point_small": [
	1.7234,
	3.1619,
	0.5014
	],
	"nearest_point_nearby": [
	1.7324,
	2.8083,
	1.0985
	],
	"direction_unit_vector": [
	-0.0621,
	-0.5375,
	0.841
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -83.49,
	"horizontal_distance_cm": 53.72
	}
	}
	]
	}
	]
	}