Datasets:
Tasks:
Video-Text-to-Text
Modalities:
Text
Formats:
json
Languages:
English
Size:
10K - 100K
ArXiv:
License:
| { | |
| "scene_id": "0c5385e84b", | |
| "dataset": "scannetpp", | |
| "small_items": [ | |
| { | |
| "object_id": 82, | |
| "label": "power strip", | |
| "centroid": [ | |
| 0.3682, | |
| 0.3575, | |
| 0.9437 | |
| ], | |
| "nearby_objects": [ | |
| { | |
| "object_id": 59, | |
| "label": "object", | |
| "centroid": [ | |
| 0.2301, | |
| 0.1606, | |
| 1.0869 | |
| ], | |
| "centroid_distance_m": 0.2799, | |
| "spatial_3d": { | |
| "edge_distance_cm": 8.36, | |
| "center_distance_cm": 27.99, | |
| "nearest_point_small": [ | |
| 0.3345, | |
| 0.2774, | |
| 0.9405 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.2991, | |
| 0.2016, | |
| 0.9398 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.4935, | |
| -0.7033, | |
| 0.5117 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -14.32, | |
| "horizontal_distance_cm": 24.05 | |
| } | |
| }, | |
| { | |
| "object_id": 53, | |
| "label": "paper towels", | |
| "centroid": [ | |
| 0.3245, | |
| 0.6399, | |
| 1.0304 | |
| ], | |
| "centroid_distance_m": 0.2986, | |
| "spatial_3d": { | |
| "edge_distance_cm": 0.31, | |
| "center_distance_cm": 29.86, | |
| "nearest_point_small": [ | |
| 0.3297, | |
| 0.3727, | |
| 0.95 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.3309, | |
| 0.3718, | |
| 0.9527 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.1462, | |
| 0.9458, | |
| 0.2901 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -8.66, | |
| "horizontal_distance_cm": 28.58 | |
| } | |
| }, | |
| { | |
| "object_id": 81, | |
| "label": "remove", | |
| "centroid": [ | |
| 0.0323, | |
| 0.1714, | |
| 1.0757 | |
| ], | |
| "centroid_distance_m": 0.406, | |
| "spatial_3d": { | |
| "edge_distance_cm": 28.32, | |
| "center_distance_cm": 40.6, | |
| "nearest_point_small": [ | |
| 0.3082, | |
| 0.3005, | |
| 0.9388 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.0418, | |
| 0.2074, | |
| 0.9625 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.8273, | |
| -0.4582, | |
| 0.325 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -13.19, | |
| "horizontal_distance_cm": 38.4 | |
| } | |
| }, | |
| { | |
| "object_id": 58, | |
| "label": "coffee maker", | |
| "centroid": [ | |
| 0.8112, | |
| 0.4246, | |
| 1.2085 | |
| ], | |
| "centroid_distance_m": 0.5204, | |
| "spatial_3d": { | |
| "edge_distance_cm": 12.8, | |
| "center_distance_cm": 52.04, | |
| "nearest_point_small": [ | |
| 0.3805, | |
| 0.427, | |
| 0.9425 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.494, | |
| 0.484, | |
| 0.9263 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.8512, | |
| 0.1291, | |
| 0.5087 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -26.48, | |
| "horizontal_distance_cm": 44.8 | |
| } | |
| }, | |
| { | |
| "object_id": 80, | |
| "label": "remove", | |
| "centroid": [ | |
| 0.0442, | |
| 0.7753, | |
| 1.0242 | |
| ], | |
| "centroid_distance_m": 0.5348, | |
| "spatial_3d": { | |
| "edge_distance_cm": 36.38, | |
| "center_distance_cm": 53.48, | |
| "nearest_point_small": [ | |
| 0.336, | |
| 0.3933, | |
| 0.9497 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.065, | |
| 0.6158, | |
| 1.0463 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.6058, | |
| 0.7812, | |
| 0.1506 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -8.05, | |
| "horizontal_distance_cm": 52.87 | |
| } | |
| }, | |
| { | |
| "object_id": 79, | |
| "label": "object", | |
| "centroid": [ | |
| 0.3222, | |
| 0.9158, | |
| 0.9267 | |
| ], | |
| "centroid_distance_m": 0.5605, | |
| "spatial_3d": { | |
| "edge_distance_cm": 40.05, | |
| "center_distance_cm": 56.05, | |
| "nearest_point_small": [ | |
| 0.3758, | |
| 0.4296, | |
| 0.9365 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.357, | |
| 0.8275, | |
| 0.8953 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.0821, | |
| 0.9962, | |
| -0.0303 | |
| ], | |
| "vertical_relation": "same_level", | |
| "vertical_offset_cm": 1.7, | |
| "horizontal_distance_cm": 56.02 | |
| } | |
| }, | |
| { | |
| "object_id": 38, | |
| "label": "food container", | |
| "centroid": [ | |
| 1.1226, | |
| 0.2566, | |
| 1.2598 | |
| ], | |
| "centroid_distance_m": 0.8241, | |
| "spatial_3d": { | |
| "edge_distance_cm": 67.45, | |
| "center_distance_cm": 82.41, | |
| "nearest_point_small": [ | |
| 0.4091, | |
| 0.323, | |
| 0.9623 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.0305, | |
| 0.2657, | |
| 1.2181 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.9154, | |
| -0.1224, | |
| 0.3835 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -31.61, | |
| "horizontal_distance_cm": 76.11 | |
| } | |
| }, | |
| { | |
| "object_id": 26, | |
| "label": "SPLIT", | |
| "centroid": [ | |
| 0.8345, | |
| 0.2131, | |
| 0.2512 | |
| ], | |
| "centroid_distance_m": 0.8473, | |
| "spatial_3d": { | |
| "edge_distance_cm": 69.24, | |
| "center_distance_cm": 84.73, | |
| "nearest_point_small": [ | |
| 0.397, | |
| 0.3885, | |
| 0.9424 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.0294, | |
| 0.657, | |
| 0.8557 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.5504, | |
| -0.1704, | |
| -0.8173 | |
| ], | |
| "vertical_relation": "above", | |
| "vertical_offset_cm": 69.25, | |
| "horizontal_distance_cm": 48.82 | |
| } | |
| }, | |
| { | |
| "object_id": 34, | |
| "label": "heater", | |
| "centroid": [ | |
| 0.3748, | |
| 1.0822, | |
| 0.4831 | |
| ], | |
| "centroid_distance_m": 0.8588, | |
| "spatial_3d": { | |
| "edge_distance_cm": 30.92, | |
| "center_distance_cm": 85.88, | |
| "nearest_point_small": [ | |
| 0.3696, | |
| 0.362, | |
| 0.898 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.3679, | |
| 0.3584, | |
| 0.5887 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.0077, | |
| 0.8439, | |
| -0.5364 | |
| ], | |
| "vertical_relation": "above", | |
| "vertical_offset_cm": 46.07, | |
| "horizontal_distance_cm": 72.48 | |
| } | |
| }, | |
| { | |
| "object_id": 25, | |
| "label": "counter", | |
| "centroid": [ | |
| 0.3742, | |
| 1.2378, | |
| 0.9015 | |
| ], | |
| "centroid_distance_m": 0.8813, | |
| "spatial_3d": { | |
| "edge_distance_cm": 2.52, | |
| "center_distance_cm": 88.13, | |
| "nearest_point_small": [ | |
| 0.3777, | |
| 0.4227, | |
| 0.9211 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.3588, | |
| 0.4367, | |
| 0.9123 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.0069, | |
| 0.9988, | |
| -0.0479 | |
| ], | |
| "vertical_relation": "same_level", | |
| "vertical_offset_cm": 4.22, | |
| "horizontal_distance_cm": 88.03 | |
| } | |
| }, | |
| { | |
| "object_id": 3, | |
| "label": "windowsill", | |
| "centroid": [ | |
| 0.3326, | |
| 1.2667, | |
| 0.8677 | |
| ], | |
| "centroid_distance_m": 0.9131, | |
| "spatial_3d": { | |
| "edge_distance_cm": 0.37, | |
| "center_distance_cm": 91.31, | |
| "nearest_point_small": [ | |
| 0.3836, | |
| 0.3892, | |
| 0.9136 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.3828, | |
| 0.3905, | |
| 0.9102 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.039, | |
| 0.9958, | |
| -0.0832 | |
| ], | |
| "vertical_relation": "above", | |
| "vertical_offset_cm": 7.6, | |
| "horizontal_distance_cm": 90.99 | |
| } | |
| }, | |
| { | |
| "object_id": 75, | |
| "label": "microwave", | |
| "centroid": [ | |
| 1.2942, | |
| 0.2925, | |
| 1.0821 | |
| ], | |
| "centroid_distance_m": 0.9386, | |
| "spatial_3d": { | |
| "edge_distance_cm": 57.7, | |
| "center_distance_cm": 93.86, | |
| "nearest_point_small": [ | |
| 0.4091, | |
| 0.323, | |
| 0.9623 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.9584, | |
| 0.1512, | |
| 0.922 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.9866, | |
| -0.0692, | |
| 0.1474 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -13.84, | |
| "horizontal_distance_cm": 92.83 | |
| } | |
| }, | |
| { | |
| "object_id": 40, | |
| "label": "object", | |
| "centroid": [ | |
| 0.8101, | |
| 0.1876, | |
| 0.1056 | |
| ], | |
| "centroid_distance_m": 0.9626, | |
| "spatial_3d": { | |
| "edge_distance_cm": 82.57, | |
| "center_distance_cm": 96.26, | |
| "nearest_point_small": [ | |
| 0.3833, | |
| 0.3668, | |
| 0.9024 | |
| ], | |
| "nearest_point_nearby": [ | |
| 0.7614, | |
| 0.1972, | |
| 0.1882 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.4591, | |
| -0.1764, | |
| -0.8707 | |
| ], | |
| "vertical_relation": "above", | |
| "vertical_offset_cm": 83.81, | |
| "horizontal_distance_cm": 47.34 | |
| } | |
| } | |
| ] | |
| }, | |
| { | |
| "object_id": 37, | |
| "label": "mug", | |
| "centroid": [ | |
| 2.1367, | |
| 0.4974, | |
| 0.9816 | |
| ], | |
| "nearby_objects": [ | |
| { | |
| "object_id": 47, | |
| "label": "water kettle", | |
| "centroid": [ | |
| 2.2551, | |
| 0.4206, | |
| 1.0533 | |
| ], | |
| "centroid_distance_m": 0.1583, | |
| "spatial_3d": { | |
| "edge_distance_cm": 1.58, | |
| "center_distance_cm": 15.83, | |
| "nearest_point_small": [ | |
| 2.1899, | |
| 0.479, | |
| 1.0075 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.2029, | |
| 0.4707, | |
| 1.0039 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.7478, | |
| -0.4852, | |
| 0.4531 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -7.17, | |
| "horizontal_distance_cm": 14.11 | |
| } | |
| }, | |
| { | |
| "object_id": 77, | |
| "label": "water filter", | |
| "centroid": [ | |
| 1.9197, | |
| 0.4778, | |
| 1.0595 | |
| ], | |
| "centroid_distance_m": 0.2315, | |
| "spatial_3d": { | |
| "edge_distance_cm": 5.73, | |
| "center_distance_cm": 23.15, | |
| "nearest_point_small": [ | |
| 2.1052, | |
| 0.4673, | |
| 1.0088 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.0727, | |
| 0.4544, | |
| 1.0542 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.9378, | |
| -0.0846, | |
| 0.3367 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -7.79, | |
| "horizontal_distance_cm": 21.8 | |
| } | |
| }, | |
| { | |
| "object_id": 76, | |
| "label": "object", | |
| "centroid": [ | |
| 2.151, | |
| 0.2264, | |
| 1.0608 | |
| ], | |
| "centroid_distance_m": 0.2827, | |
| "spatial_3d": { | |
| "edge_distance_cm": 11.47, | |
| "center_distance_cm": 28.27, | |
| "nearest_point_small": [ | |
| 2.1414, | |
| 0.4414, | |
| 1.0051 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.1661, | |
| 0.3305, | |
| 1.021 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.0503, | |
| -0.9586, | |
| 0.2803 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -7.92, | |
| "horizontal_distance_cm": 27.13 | |
| } | |
| }, | |
| { | |
| "object_id": 57, | |
| "label": "kitchen counter", | |
| "centroid": [ | |
| 1.8325, | |
| 0.4193, | |
| 0.9047 | |
| ], | |
| "centroid_distance_m": 0.3234, | |
| "spatial_3d": { | |
| "edge_distance_cm": 0.27, | |
| "center_distance_cm": 32.34, | |
| "nearest_point_small": [ | |
| 2.1255, | |
| 0.5139, | |
| 0.9034 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.125, | |
| 0.516, | |
| 0.9051 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.9408, | |
| -0.2416, | |
| -0.2377 | |
| ], | |
| "vertical_relation": "above", | |
| "vertical_offset_cm": 7.69, | |
| "horizontal_distance_cm": 31.41 | |
| } | |
| }, | |
| { | |
| "object_id": 27, | |
| "label": "cup", | |
| "centroid": [ | |
| 1.9178, | |
| 0.198, | |
| 0.9743 | |
| ], | |
| "centroid_distance_m": 0.371, | |
| "spatial_3d": { | |
| "edge_distance_cm": 28.79, | |
| "center_distance_cm": 37.1, | |
| "nearest_point_small": [ | |
| 2.1163, | |
| 0.4504, | |
| 0.9936 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.94, | |
| 0.2227, | |
| 0.9945 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.5901, | |
| -0.8071, | |
| -0.0197 | |
| ], | |
| "vertical_relation": "same_level", | |
| "vertical_offset_cm": 0.73, | |
| "horizontal_distance_cm": 37.09 | |
| } | |
| }, | |
| { | |
| "object_id": 29, | |
| "label": "kitchen shelf", | |
| "centroid": [ | |
| 2.2581, | |
| 0.355, | |
| 1.4132 | |
| ], | |
| "centroid_distance_m": 0.4704, | |
| "spatial_3d": { | |
| "edge_distance_cm": 40.36, | |
| "center_distance_cm": 47.04, | |
| "nearest_point_small": [ | |
| 2.1627, | |
| 0.4473, | |
| 1.0082 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.1599, | |
| 0.3746, | |
| 1.4052 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.258, | |
| -0.3027, | |
| 0.9175 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -43.16, | |
| "horizontal_distance_cm": 18.71 | |
| } | |
| }, | |
| { | |
| "object_id": 83, | |
| "label": "object", | |
| "centroid": [ | |
| 1.7241, | |
| 0.23, | |
| 1.0183 | |
| ], | |
| "centroid_distance_m": 0.4931, | |
| "spatial_3d": { | |
| "edge_distance_cm": 39.03, | |
| "center_distance_cm": 49.31, | |
| "nearest_point_small": [ | |
| 2.1111, | |
| 0.4558, | |
| 1.0068 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.7811, | |
| 0.2475, | |
| 1.0016 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.8369, | |
| -0.5423, | |
| 0.0743 | |
| ], | |
| "vertical_relation": "same_level", | |
| "vertical_offset_cm": -3.67, | |
| "horizontal_distance_cm": 49.18 | |
| } | |
| }, | |
| { | |
| "object_id": 72, | |
| "label": "object", | |
| "centroid": [ | |
| 1.6211, | |
| 0.3682, | |
| 0.9938 | |
| ], | |
| "centroid_distance_m": 0.5317, | |
| "spatial_3d": { | |
| "edge_distance_cm": 44.1, | |
| "center_distance_cm": 53.17, | |
| "nearest_point_small": [ | |
| 2.0954, | |
| 0.4801, | |
| 1.005 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.668, | |
| 0.3754, | |
| 1.0338 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.9698, | |
| -0.243, | |
| 0.023 | |
| ], | |
| "vertical_relation": "same_level", | |
| "vertical_offset_cm": -1.22, | |
| "horizontal_distance_cm": 53.16 | |
| } | |
| }, | |
| { | |
| "object_id": 64, | |
| "label": "dishwasher", | |
| "centroid": [ | |
| 2.3001, | |
| 0.6245, | |
| 0.4651 | |
| ], | |
| "centroid_distance_m": 0.5564, | |
| "spatial_3d": { | |
| "edge_distance_cm": 13.67, | |
| "center_distance_cm": 55.64, | |
| "nearest_point_small": [ | |
| 2.1336, | |
| 0.5156, | |
| 0.9066 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.1422, | |
| 0.6405, | |
| 0.8516 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.2937, | |
| 0.2285, | |
| -0.9282 | |
| ], | |
| "vertical_relation": "above", | |
| "vertical_offset_cm": 51.65, | |
| "horizontal_distance_cm": 20.7 | |
| } | |
| }, | |
| { | |
| "object_id": 55, | |
| "label": "kitchen cabinet", | |
| "centroid": [ | |
| 1.7927, | |
| 0.6513, | |
| 0.5584 | |
| ], | |
| "centroid_distance_m": 0.5667, | |
| "spatial_3d": { | |
| "edge_distance_cm": 22.66, | |
| "center_distance_cm": 56.67, | |
| "nearest_point_small": [ | |
| 2.1255, | |
| 0.5139, | |
| 0.9034 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.9443, | |
| 0.6429, | |
| 0.8601 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.6071, | |
| 0.2717, | |
| -0.7467 | |
| ], | |
| "vertical_relation": "above", | |
| "vertical_offset_cm": 42.32, | |
| "horizontal_distance_cm": 37.69 | |
| } | |
| }, | |
| { | |
| "object_id": 7, | |
| "label": "object", | |
| "centroid": [ | |
| 2.1016, | |
| 0.2359, | |
| 1.503 | |
| ], | |
| "centroid_distance_m": 0.5844, | |
| "spatial_3d": { | |
| "edge_distance_cm": 45.55, | |
| "center_distance_cm": 58.44, | |
| "nearest_point_small": [ | |
| 2.1414, | |
| 0.4414, | |
| 1.0051 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.1118, | |
| 0.267, | |
| 1.4248 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.0601, | |
| -0.4475, | |
| 0.8922 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -52.14, | |
| "horizontal_distance_cm": 26.39 | |
| } | |
| }, | |
| { | |
| "object_id": 30, | |
| "label": "cup", | |
| "centroid": [ | |
| 2.4427, | |
| 0.3143, | |
| 1.4591 | |
| ], | |
| "centroid_distance_m": 0.596, | |
| "spatial_3d": { | |
| "edge_distance_cm": 50.44, | |
| "center_distance_cm": 59.6, | |
| "nearest_point_small": [ | |
| 2.1812, | |
| 0.4639, | |
| 1.008 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.4253, | |
| 0.3079, | |
| 1.4209 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.5134, | |
| -0.3073, | |
| 0.8012 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -47.75, | |
| "horizontal_distance_cm": 35.66 | |
| } | |
| }, | |
| { | |
| "object_id": 84, | |
| "label": "object", | |
| "centroid": [ | |
| 1.5437, | |
| 0.3074, | |
| 1.0507 | |
| ], | |
| "centroid_distance_m": 0.6266, | |
| "spatial_3d": { | |
| "edge_distance_cm": 51.1, | |
| "center_distance_cm": 62.66, | |
| "nearest_point_small": [ | |
| 2.0954, | |
| 0.4801, | |
| 1.005 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.6087, | |
| 0.3303, | |
| 1.0483 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.9465, | |
| -0.3033, | |
| 0.1103 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -6.91, | |
| "horizontal_distance_cm": 62.28 | |
| } | |
| }, | |
| { | |
| "object_id": 73, | |
| "label": "object", | |
| "centroid": [ | |
| 1.6184, | |
| 0.1646, | |
| 1.1339 | |
| ], | |
| "centroid_distance_m": 0.6345, | |
| "spatial_3d": { | |
| "edge_distance_cm": 51.87, | |
| "center_distance_cm": 63.45, | |
| "nearest_point_small": [ | |
| 2.0954, | |
| 0.4801, | |
| 1.005 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.6656, | |
| 0.2018, | |
| 1.088 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.8169, | |
| -0.5245, | |
| 0.24 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -15.23, | |
| "horizontal_distance_cm": 61.6 | |
| } | |
| }, | |
| { | |
| "object_id": 28, | |
| "label": "object", | |
| "centroid": [ | |
| 2.2711, | |
| 0.1332, | |
| 1.4842 | |
| ], | |
| "centroid_distance_m": 0.6351, | |
| "spatial_3d": { | |
| "edge_distance_cm": 48.19, | |
| "center_distance_cm": 63.51, | |
| "nearest_point_small": [ | |
| 2.1627, | |
| 0.4473, | |
| 1.0082 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.2559, | |
| 0.231, | |
| 1.4286 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.2115, | |
| -0.5735, | |
| 0.7915 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -50.26, | |
| "horizontal_distance_cm": 38.82 | |
| } | |
| }, | |
| { | |
| "object_id": 10, | |
| "label": "power socket", | |
| "centroid": [ | |
| 2.7884, | |
| 0.067, | |
| 1.1703 | |
| ], | |
| "centroid_distance_m": 0.8034, | |
| "spatial_3d": { | |
| "edge_distance_cm": 70.6, | |
| "center_distance_cm": 80.34, | |
| "nearest_point_small": [ | |
| 2.1812, | |
| 0.4639, | |
| 1.008 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.7693, | |
| 0.0742, | |
| 1.0352 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.8111, | |
| -0.5357, | |
| 0.2348 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -18.87, | |
| "horizontal_distance_cm": 78.1 | |
| } | |
| }, | |
| { | |
| "object_id": 70, | |
| "label": "kitchen cabinet", | |
| "centroid": [ | |
| 1.8059, | |
| 0.4012, | |
| 1.725 | |
| ], | |
| "centroid_distance_m": 0.8194, | |
| "spatial_3d": { | |
| "edge_distance_cm": 40.35, | |
| "center_distance_cm": 81.94, | |
| "nearest_point_small": [ | |
| 2.1052, | |
| 0.4673, | |
| 1.0088 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.0459, | |
| 0.3926, | |
| 1.4008 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.4038, | |
| -0.1174, | |
| 0.9073 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -74.34, | |
| "horizontal_distance_cm": 34.46 | |
| } | |
| }, | |
| { | |
| "object_id": 75, | |
| "label": "microwave", | |
| "centroid": [ | |
| 1.2942, | |
| 0.2925, | |
| 1.0821 | |
| ], | |
| "centroid_distance_m": 0.8729, | |
| "spatial_3d": { | |
| "edge_distance_cm": 61.46, | |
| "center_distance_cm": 87.29, | |
| "nearest_point_small": [ | |
| 2.0954, | |
| 0.4801, | |
| 1.005 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.5791, | |
| 0.2233, | |
| 1.2176 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.9652, | |
| -0.2348, | |
| 0.1151 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -10.05, | |
| "horizontal_distance_cm": 86.71 | |
| } | |
| }, | |
| { | |
| "object_id": 68, | |
| "label": "kitchen cabinet", | |
| "centroid": [ | |
| 2.7012, | |
| 0.328, | |
| 1.6347 | |
| ], | |
| "centroid_distance_m": 0.8797, | |
| "spatial_3d": { | |
| "edge_distance_cm": 49.24, | |
| "center_distance_cm": 87.97, | |
| "nearest_point_small": [ | |
| 2.1899, | |
| 0.479, | |
| 1.0075 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.4411, | |
| 0.3379, | |
| 1.4068 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.6417, | |
| -0.1925, | |
| 0.7424 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -65.31, | |
| "horizontal_distance_cm": 58.94 | |
| } | |
| }, | |
| { | |
| "object_id": 13, | |
| "label": "remove", | |
| "centroid": [ | |
| 2.8702, | |
| 0.0582, | |
| 0.7059 | |
| ], | |
| "centroid_distance_m": 0.8982, | |
| "spatial_3d": { | |
| "edge_distance_cm": 48.95, | |
| "center_distance_cm": 89.82, | |
| "nearest_point_small": [ | |
| 2.1765, | |
| 0.4623, | |
| 0.9941 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.5541, | |
| 0.1647, | |
| 0.9016 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.8165, | |
| -0.489, | |
| -0.3069 | |
| ], | |
| "vertical_relation": "above", | |
| "vertical_offset_cm": 27.57, | |
| "horizontal_distance_cm": 85.49 | |
| } | |
| }, | |
| { | |
| "object_id": 46, | |
| "label": "object", | |
| "centroid": [ | |
| 1.3321, | |
| 0.2403, | |
| 1.2938 | |
| ], | |
| "centroid_distance_m": 0.9006, | |
| "spatial_3d": { | |
| "edge_distance_cm": 77.99, | |
| "center_distance_cm": 90.06, | |
| "nearest_point_small": [ | |
| 2.0954, | |
| 0.4801, | |
| 1.005 | |
| ], | |
| "nearest_point_nearby": [ | |
| 1.3914, | |
| 0.2812, | |
| 1.2754 | |
| ], | |
| "direction_unit_vector": [ | |
| -0.8935, | |
| -0.2855, | |
| 0.3467 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -31.22, | |
| "horizontal_distance_cm": 84.48 | |
| } | |
| }, | |
| { | |
| "object_id": 63, | |
| "label": "kitchen cabinet", | |
| "centroid": [ | |
| 2.9238, | |
| 0.6263, | |
| 0.5328 | |
| ], | |
| "centroid_distance_m": 0.9152, | |
| "spatial_3d": { | |
| "edge_distance_cm": 42.75, | |
| "center_distance_cm": 91.52, | |
| "nearest_point_small": [ | |
| 2.188, | |
| 0.4959, | |
| 1.0049 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.5676, | |
| 0.6336, | |
| 0.8644 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.8601, | |
| 0.1409, | |
| -0.4904 | |
| ], | |
| "vertical_relation": "above", | |
| "vertical_offset_cm": 44.88, | |
| "horizontal_distance_cm": 79.76 | |
| } | |
| }, | |
| { | |
| "object_id": 69, | |
| "label": "kitchen cabinet", | |
| "centroid": [ | |
| 2.2509, | |
| 0.3612, | |
| 1.8829 | |
| ], | |
| "centroid_distance_m": 0.9186, | |
| "spatial_3d": { | |
| "edge_distance_cm": 74.19, | |
| "center_distance_cm": 91.86, | |
| "nearest_point_small": [ | |
| 2.1627, | |
| 0.4473, | |
| 1.0082 | |
| ], | |
| "nearest_point_nearby": [ | |
| 2.1465, | |
| 0.3789, | |
| 1.7468 | |
| ], | |
| "direction_unit_vector": [ | |
| 0.1243, | |
| -0.1483, | |
| 0.9811 | |
| ], | |
| "vertical_relation": "below", | |
| "vertical_offset_cm": -90.13, | |
| "horizontal_distance_cm": 17.77 | |
| } | |
| } | |
| ] | |
| } | |
| ] | |
| } |