Hugging Face's logo

Datasets:
TaxonomyProject
/
SimulationMetadata

Tasks:
Visual Question Answering
Image Classification
Modalities:
Image
3D
ArXiv:
Tags:
3d
spatial-reasoning
object-properties
taxonomy
simulation
License:
Dataset card Data Studio Files
xet
 Community
RyanWW commited on
Commit
4b48102
·
verified ·
1 Parent(s): cec8caa

Add files using upload-large-folder tool

Browse files
Files changed (9) hide show
  1. scenes/annotations/AIUE5_vol12_02/l001_off0_r005/scene_annotations_split.json +792 -0
  2. scenes/annotations/AIUE5_vol12_02/l002_off1_r001/scene_annotations_split.json +1092 -0
  3. scenes/annotations/AIUE5_vol12_02/l013_off2_r002/scene_annotations_split.json +1218 -0
  4. scenes/annotations/AIUE5_vol12_02/l014_off2_r005/scene_annotations_split.json +912 -0
  5. scenes/annotations/AIUE5_vol12_02/l018_off1_r000/scene_annotations_split.json +1464 -0
  6. scenes/annotations/AIUE5_vol12_02/l042_off0_r003/scene_annotations_split.json +426 -0
  7. scenes/annotations/AIUE5_vol12_02/l046_off1_r000/scene_annotations_split.json +1098 -0
  8. scenes/annotations/AIUE5_vol12_02/l048_off1_r004/scene_annotations_split.json +1156 -0
  9. scenes/annotations/AIUE5_vol12_02/l050_off2_r004/scene_annotations_split.json +1218 -0
scenes/annotations/AIUE5_vol12_02/l001_off0_r005/scene_annotations_split.json ADDED
@@ -0,0 +1,792 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l001_off0_r005",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l001_off0_r005/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 341,
8
+ -267,
9
+ 291
10
+ ],
11
+ "rotation": [
12
+ 0,
13
+ -59.999999999999986,
14
+ 0
15
+ ],
16
+ "fov": 90,
17
+ "c2w": [
18
+ [
19
+ 0.5000000000000002,
20
+ -0.8660254037844384,
21
+ 0,
22
+ 0
23
+ ],
24
+ [
25
+ 0.8660254037844384,
26
+ 0.5000000000000002,
27
+ 0,
28
+ 0
29
+ ],
30
+ [
31
+ 0,
32
+ 0,
33
+ 1,
34
+ 0
35
+ ],
36
+ [
37
+ 341,
38
+ -267,
39
+ 291,
40
+ 1
41
+ ]
42
+ ],
43
+ "width": 1920,
44
+ "height": 1080,
45
+ "fxfycxcy": [
46
+ 960.0000000000001,
47
+ 960.0000000000002,
48
+ 960.0,
49
+ 540.0
50
+ ]
51
+ },
52
+ "background": {
53
+ "floor": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1547,
60
+ 436
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -109.43883007812497,
66
+ -305.40692504882804,
67
+ 381.5008540039062
68
+ ],
69
+ "extent": [
70
+ 632.2734375,
71
+ 649.2933349609375,
72
+ 17.98785400390625
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -109.43883007812497,
78
+ -305.40692504882804,
79
+ 381.5008540039062
80
+ ],
81
+ "extent": [
82
+ 632.2734375,
83
+ 649.2933349609375,
84
+ 17.98785400390625
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -107.713,
94
+ -305.84,
95
+ 363.513
96
+ ],
97
+ "rotation": [
98
+ 0,
99
+ 0,
100
+ 0
101
+ ],
102
+ "scale": [
103
+ 1,
104
+ 1,
105
+ 1
106
+ ]
107
+ },
108
+ "color": [
109
+ 255,
110
+ 255,
111
+ 127
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Floor_4_1",
116
+ "bbox_2d": [
117
+ 48,
118
+ 954,
119
+ 708,
120
+ 1079
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ -85.68488818359378,
126
+ -331.4413950195312,
127
+ 30.228998092651366
128
+ ],
129
+ "extent": [
130
+ 589.0018920898438,
131
+ 598.1265258789062,
132
+ 0.4999980926513672
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ -85.68488818359378,
138
+ -331.4413950195312,
139
+ 30.228998092651366
140
+ ],
141
+ "extent": [
142
+ 589.0018920898438,
143
+ 598.1265258789062,
144
+ 0.4999980926513672
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ -99.5995,
154
+ -307.299,
155
+ 29.729
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 0,
170
+ 127,
171
+ 63
172
+ ]
173
+ },
174
+ {
175
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
176
+ "bbox_2d": [
177
+ 130,
178
+ 0,
179
+ 197,
180
+ 8
181
+ ],
182
+ "bbox_3d": {
183
+ "aabb": {
184
+ "center": [
185
+ 15.152699999999982,
186
+ -467.03198474121086,
187
+ 399.3307082519531
188
+ ],
189
+ "extent": [
190
+ 390.8625183105469,
191
+ 373.12469482421875,
192
+ 0.169708251953125
193
+ ]
194
+ },
195
+ "obb": {
196
+ "center": [
197
+ 15.152699999999982,
198
+ -467.03198474121086,
199
+ 399.3307082519531
200
+ ],
201
+ "extent": [
202
+ 390.8625183105469,
203
+ 373.12469482421875,
204
+ 0.169708251953125
205
+ ],
206
+ "rotation": [
207
+ 0,
208
+ 0,
209
+ 0
210
+ ]
211
+ },
212
+ "location": [
213
+ 15.1527,
214
+ -467.032,
215
+ 399.161
216
+ ],
217
+ "rotation": [
218
+ 0,
219
+ 0,
220
+ 0
221
+ ],
222
+ "scale": [
223
+ 1,
224
+ 1,
225
+ 1
226
+ ]
227
+ },
228
+ "color": [
229
+ 0,
230
+ 63,
231
+ 0
232
+ ]
233
+ }
234
+ ],
235
+ "wall": [
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Wall_3_1",
238
+ "bbox_2d": [
239
+ 1217,
240
+ 0,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 492.289,
248
+ -232.0970076293945,
249
+ 210.30126562499998
250
+ ],
251
+ "extent": [
252
+ 55.04327392578125,
253
+ 149.878173828125,
254
+ 180.572265625
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 492.289,
260
+ -232.0970076293945,
261
+ 210.30126562499998
262
+ ],
263
+ "extent": [
264
+ 55.04327392578125,
265
+ 149.878173828125,
266
+ 180.572265625
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 492.289,
276
+ -232.097,
277
+ 29.729
278
+ ],
279
+ "rotation": [
280
+ 0,
281
+ 0,
282
+ 0
283
+ ],
284
+ "scale": [
285
+ 1,
286
+ 1,
287
+ 1
288
+ ]
289
+ },
290
+ "color": [
291
+ 255,
292
+ 127,
293
+ 0
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_4_1",
298
+ "bbox_2d": [
299
+ 684,
300
+ 109,
301
+ 1268,
302
+ 1079
303
+ ],
304
+ "bbox_3d": {
305
+ "aabb": {
306
+ "center": [
307
+ 489.6886770629883,
308
+ -663.5999932861328,
309
+ 214.63871374511717
310
+ ],
311
+ "extent": [
312
+ 52.443214416503906,
313
+ 285.02001953125,
314
+ 184.9097137451172
315
+ ]
316
+ },
317
+ "obb": {
318
+ "center": [
319
+ 489.6886770629883,
320
+ -663.5999932861328,
321
+ 214.63871374511717
322
+ ],
323
+ "extent": [
324
+ 52.443214416503906,
325
+ 285.02001953125,
326
+ 184.9097137451172
327
+ ],
328
+ "rotation": [
329
+ 0,
330
+ 0,
331
+ 0
332
+ ]
333
+ },
334
+ "location": [
335
+ 490.49,
336
+ -664.06,
337
+ 29.729
338
+ ],
339
+ "rotation": [
340
+ 0,
341
+ 0,
342
+ 0
343
+ ],
344
+ "scale": [
345
+ 1,
346
+ 1,
347
+ 1
348
+ ]
349
+ },
350
+ "color": [
351
+ 255,
352
+ 127,
353
+ 255
354
+ ]
355
+ },
356
+ {
357
+ "object_id": "SM_AI_vol12_02_Wall_5_1",
358
+ "bbox_2d": [
359
+ 0,
360
+ 395,
361
+ 668,
362
+ 1079
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ 222.24028076171874,
368
+ -925.8515427093506,
369
+ 214.49045935058592
370
+ ],
371
+ "extent": [
372
+ 300.5262451171875,
373
+ 54.29796600341797,
374
+ 184.76145935058594
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ 222.24028076171874,
380
+ -925.8515427093506,
381
+ 214.49045935058592
382
+ ],
383
+ "extent": [
384
+ 300.5262451171875,
385
+ 54.29796600341797,
386
+ 184.76145935058594
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ 223.265,
396
+ -926.773,
397
+ 29.729
398
+ ],
399
+ "rotation": [
400
+ 0,
401
+ 0,
402
+ 0
403
+ ],
404
+ "scale": [
405
+ 1,
406
+ 1,
407
+ 1
408
+ ]
409
+ },
410
+ "color": [
411
+ 0,
412
+ 127,
413
+ 127
414
+ ]
415
+ }
416
+ ],
417
+ "ceiling construction": [
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
420
+ "bbox_2d": [
421
+ 0,
422
+ 0,
423
+ 816,
424
+ 121
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ 14.060200000000009,
430
+ -466.8179847412109,
431
+ 344.82342364501955
432
+ ],
433
+ "extent": [
434
+ 392.0332946777344,
435
+ 374.09112548828125,
436
+ 53.95142364501953
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ 14.060200000000009,
442
+ -466.8179847412109,
443
+ 344.82342364501955
444
+ ],
445
+ "extent": [
446
+ 392.0332946777344,
447
+ 374.09112548828125,
448
+ 53.95142364501953
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ 14.0602,
458
+ -466.818,
459
+ 290.872
460
+ ],
461
+ "rotation": [
462
+ 0,
463
+ 0,
464
+ 0
465
+ ],
466
+ "scale": [
467
+ 1,
468
+ 1,
469
+ 1
470
+ ]
471
+ },
472
+ "color": [
473
+ 255,
474
+ 0,
475
+ 63
476
+ ]
477
+ }
478
+ ],
479
+ "window": [
480
+ {
481
+ "object_id": "SM_AI_vol12_02_Window_4_1",
482
+ "bbox_2d": [
483
+ 537,
484
+ 436,
485
+ 683,
486
+ 985
487
+ ],
488
+ "bbox_3d": {
489
+ "aabb": {
490
+ "center": [
491
+ 478.3979389648438,
492
+ -899.502,
493
+ 351.0958979003906
494
+ ],
495
+ "extent": [
496
+ 66.072265625,
497
+ 81.93475341796875,
498
+ 319.7940979003906
499
+ ]
500
+ },
501
+ "obb": {
502
+ "center": [
503
+ 478.3979389648438,
504
+ -899.502,
505
+ 351.09589790039064
506
+ ],
507
+ "extent": [
508
+ 66.072265625,
509
+ 81.93475341796875,
510
+ 319.7940979003906
511
+ ],
512
+ "rotation": [
513
+ 0,
514
+ 0,
515
+ 0
516
+ ]
517
+ },
518
+ "location": [
519
+ 478.398,
520
+ -899.502,
521
+ 31.3018
522
+ ],
523
+ "rotation": [
524
+ 0,
525
+ 0,
526
+ 0
527
+ ],
528
+ "scale": [
529
+ 1,
530
+ 1,
531
+ 1
532
+ ]
533
+ },
534
+ "color": [
535
+ 255,
536
+ 63,
537
+ 255
538
+ ]
539
+ }
540
+ ],
541
+ "window glass": [
542
+ {
543
+ "object_id": "SM_AI_vol12_02_Window_glass_4_1",
544
+ "bbox_2d": [
545
+ 543,
546
+ 434,
547
+ 695,
548
+ 979
549
+ ],
550
+ "bbox_3d": {
551
+ "aabb": {
552
+ "center": [
553
+ 478.668,
554
+ -899.8300305175782,
555
+ 351.19856162109375
556
+ ],
557
+ "extent": [
558
+ 63.623291015625,
559
+ 79.35452270507812,
560
+ 318.74066162109375
561
+ ]
562
+ },
563
+ "obb": {
564
+ "center": [
565
+ 478.668,
566
+ -899.8300305175782,
567
+ 351.19856162109375
568
+ ],
569
+ "extent": [
570
+ 63.623291015625,
571
+ 79.35452270507812,
572
+ 318.74066162109375
573
+ ],
574
+ "rotation": [
575
+ 0,
576
+ 0,
577
+ 0
578
+ ]
579
+ },
580
+ "location": [
581
+ 478.668,
582
+ -899.83,
583
+ 32.4579
584
+ ],
585
+ "rotation": [
586
+ 0,
587
+ 0,
588
+ 0
589
+ ],
590
+ "scale": [
591
+ 1,
592
+ 1,
593
+ 1
594
+ ]
595
+ },
596
+ "color": [
597
+ 127,
598
+ 63,
599
+ 63
600
+ ]
601
+ }
602
+ ],
603
+ "door": [
604
+ {
605
+ "object_id": "SM_AI_vol12_02_Door_1_1",
606
+ "bbox_2d": [
607
+ 1722,
608
+ 1077,
609
+ 1730,
610
+ 1079
611
+ ],
612
+ "bbox_3d": {
613
+ "aabb": {
614
+ "center": [
615
+ 477.253105779281,
616
+ -269.53437192193536,
617
+ 130.80079641255338
618
+ ],
619
+ "extent": [
620
+ 10.392300681066615,
621
+ 48.26562220733574,
622
+ 101.04579162597656
623
+ ]
624
+ },
625
+ "obb": {
626
+ "center": [
627
+ 477.253105779281,
628
+ -269.53437192193536,
629
+ 130.80079641255338
630
+ ],
631
+ "extent": [
632
+ 10.392300681066615,
633
+ 48.26562220733574,
634
+ 101.04579162597656
635
+ ],
636
+ "rotation": [
637
+ 0,
638
+ 80,
639
+ 0
640
+ ]
641
+ },
642
+ "location": [
643
+ 477.2527718969296,
644
+ -269.5700000206572,
645
+ 30.72760000142058
646
+ ],
647
+ "rotation": [
648
+ 0,
649
+ 80,
650
+ 0
651
+ ],
652
+ "scale": [
653
+ 1,
654
+ 1,
655
+ 1
656
+ ]
657
+ },
658
+ "color": [
659
+ 63,
660
+ 255,
661
+ 0
662
+ ]
663
+ }
664
+ ]
665
+ },
666
+ "foreground": {
667
+ "lamp bar": [
668
+ {
669
+ "object_id": "SM_AI_vol12_02_lamp_bar_1_1",
670
+ "bbox_2d": [
671
+ 0,
672
+ 328,
673
+ 512,
674
+ 379
675
+ ],
676
+ "bbox_3d": {
677
+ "aabb": {
678
+ "center": [
679
+ 261.9864920049519,
680
+ -733.4944903410535,
681
+ 359.51021751078605
682
+ ],
683
+ "extent": [
684
+ 111.1802194954998,
685
+ 105.73403938019135,
686
+ 3.693960189819336
687
+ ]
688
+ },
689
+ "obb": {
690
+ "center": [
691
+ 261.9864920049519,
692
+ -733.4944903410535,
693
+ 359.51021751078605
694
+ ],
695
+ "extent": [
696
+ 111.1802194954998,
697
+ 105.73403938019135,
698
+ 3.693960189819336
699
+ ],
700
+ "rotation": [
701
+ 0,
702
+ 43.494370880237476,
703
+ 0
704
+ ]
705
+ },
706
+ "location": [
707
+ 261.9865022611724,
708
+ -733.4945011509816,
709
+ 359.5102262130642
710
+ ],
711
+ "rotation": [
712
+ 0,
713
+ 43.494370880237476,
714
+ 0
715
+ ],
716
+ "scale": [
717
+ 1,
718
+ 1,
719
+ 1
720
+ ]
721
+ },
722
+ "color": [
723
+ 63,
724
+ 127,
725
+ 255
726
+ ]
727
+ }
728
+ ],
729
+ "image": [
730
+ {
731
+ "object_id": "SM_AI_vol12_02_Image_2_1",
732
+ "bbox_2d": [
733
+ 701,
734
+ 506,
735
+ 794,
736
+ 997
737
+ ],
738
+ "bbox_3d": {
739
+ "aabb": {
740
+ "center": [
741
+ 480.1074552107502,
742
+ -710.7103032711976,
743
+ 203.10076157872354
744
+ ],
745
+ "extent": [
746
+ 15.053262423838305,
747
+ 59.227398004959355,
748
+ 102.01848834499557
749
+ ]
750
+ },
751
+ "obb": {
752
+ "center": [
753
+ 480.1074552107502,
754
+ -710.7103032711976,
755
+ 203.1007615787235
756
+ ],
757
+ "extent": [
758
+ 15.053262423838305,
759
+ 59.227398004959355,
760
+ 102.01848834499557
761
+ ],
762
+ "rotation": [
763
+ -86.55720608505361,
764
+ -177.76417400291834,
765
+ -87.73621572630412
766
+ ]
767
+ },
768
+ "location": [
769
+ 477.4269742413204,
770
+ -710.9214358198283,
771
+ 203.2623934533154
772
+ ],
773
+ "rotation": [
774
+ -86.55720608505361,
775
+ -177.76417400291834,
776
+ -87.73621572630412
777
+ ],
778
+ "scale": [
779
+ 0.8283938765525818,
780
+ 0.8283938765525818,
781
+ 0.8283938765525818
782
+ ]
783
+ },
784
+ "color": [
785
+ 191,
786
+ 127,
787
+ 63
788
+ ]
789
+ }
790
+ ]
791
+ }
792
+ }
scenes/annotations/AIUE5_vol12_02/l002_off1_r001/scene_annotations_split.json ADDED
@@ -0,0 +1,1092 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l002_off1_r001",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l002_off1_r001/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 46,
8
+ -273,
9
+ 321
10
+ ],
11
+ "rotation": [
12
+ 0,
13
+ 59.99999999999999,
14
+ 0
15
+ ],
16
+ "fov": 90,
17
+ "c2w": [
18
+ [
19
+ 0.5,
20
+ 0.8660254037844385,
21
+ 0,
22
+ 0
23
+ ],
24
+ [
25
+ -0.8660254037844385,
26
+ 0.5,
27
+ 0,
28
+ 0
29
+ ],
30
+ [
31
+ 0,
32
+ 0,
33
+ 1,
34
+ 0
35
+ ],
36
+ [
37
+ 46,
38
+ -273,
39
+ 321,
40
+ 1
41
+ ]
42
+ ],
43
+ "width": 1920,
44
+ "height": 1080,
45
+ "fxfycxcy": [
46
+ 960.0000000000001,
47
+ 960.0000000000002,
48
+ 960.0,
49
+ 540.0
50
+ ]
51
+ },
52
+ "background": {
53
+ "floor": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1919,
60
+ 456
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -109.43883007812497,
66
+ -305.40692504882804,
67
+ 381.5008540039062
68
+ ],
69
+ "extent": [
70
+ 632.2734375,
71
+ 649.2933349609375,
72
+ 17.98785400390625
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -109.43883007812497,
78
+ -305.40692504882804,
79
+ 381.5008540039062
80
+ ],
81
+ "extent": [
82
+ 632.2734375,
83
+ 649.2933349609375,
84
+ 17.98785400390625
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -107.713,
94
+ -305.84,
95
+ 363.513
96
+ ],
97
+ "rotation": [
98
+ 0,
99
+ 0,
100
+ 0
101
+ ],
102
+ "scale": [
103
+ 1,
104
+ 1,
105
+ 1
106
+ ]
107
+ },
108
+ "color": [
109
+ 255,
110
+ 255,
111
+ 127
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
116
+ "bbox_2d": [
117
+ 133,
118
+ 0,
119
+ 1510,
120
+ 158
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 15.152699999999982,
126
+ -467.03198474121086,
127
+ 399.3307082519531
128
+ ],
129
+ "extent": [
130
+ 390.8625183105469,
131
+ 373.12469482421875,
132
+ 0.169708251953125
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 15.152699999999982,
138
+ -467.03198474121086,
139
+ 399.3307082519531
140
+ ],
141
+ "extent": [
142
+ 390.8625183105469,
143
+ 373.12469482421875,
144
+ 0.169708251953125
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 15.1527,
154
+ -467.032,
155
+ 399.161
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 0,
170
+ 63,
171
+ 0
172
+ ]
173
+ }
174
+ ],
175
+ "wall": [
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Wall_1_1",
178
+ "bbox_2d": [
179
+ 864,
180
+ 373,
181
+ 1656,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 93.24939999999998,
188
+ 133.91399237060546,
189
+ 210.14428320312498
190
+ ],
191
+ "extent": [
192
+ 111.80139923095703,
193
+ 209.30471801757812,
194
+ 180.415283203125
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 93.2494,
200
+ 133.91399237060546,
201
+ 210.14428320312498
202
+ ],
203
+ "extent": [
204
+ 111.80139923095703,
205
+ 209.30471801757812,
206
+ 180.415283203125
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 93.2494,
216
+ 133.914,
217
+ 29.729
218
+ ],
219
+ "rotation": [
220
+ 0,
221
+ 0,
222
+ 0
223
+ ],
224
+ "scale": [
225
+ 1,
226
+ 1,
227
+ 1
228
+ ]
229
+ },
230
+ "color": [
231
+ 0,
232
+ 127,
233
+ 0
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Wall_2_1",
238
+ "bbox_2d": [
239
+ 244,
240
+ 373,
241
+ 838,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 356.714015258789,
248
+ -77.27309713897705,
249
+ 210.14428320312498
250
+ ],
251
+ "extent": [
252
+ 164.57118225097653,
253
+ 23.48920440673828,
254
+ 180.415283203125
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 356.714015258789,
260
+ -77.27309713897705,
261
+ 210.14428320312498
262
+ ],
263
+ "extent": [
264
+ 164.57118225097653,
265
+ 23.48920440673828,
266
+ 180.415283203125
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 356.714,
276
+ -77.2731,
277
+ 29.729
278
+ ],
279
+ "rotation": [
280
+ 0,
281
+ 0,
282
+ 0
283
+ ],
284
+ "scale": [
285
+ 1,
286
+ 1,
287
+ 1
288
+ ]
289
+ },
290
+ "color": [
291
+ 0,
292
+ 127,
293
+ 255
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_3_1",
298
+ "bbox_2d": [
299
+ 0,
300
+ 419,
301
+ 180,
302
+ 1079
303
+ ],
304
+ "bbox_3d": {
305
+ "aabb": {
306
+ "center": [
307
+ 492.289,
308
+ -232.0970076293945,
309
+ 210.30126562499998
310
+ ],
311
+ "extent": [
312
+ 55.04327392578125,
313
+ 149.878173828125,
314
+ 180.572265625
315
+ ]
316
+ },
317
+ "obb": {
318
+ "center": [
319
+ 492.289,
320
+ -232.0970076293945,
321
+ 210.30126562499998
322
+ ],
323
+ "extent": [
324
+ 55.04327392578125,
325
+ 149.878173828125,
326
+ 180.572265625
327
+ ],
328
+ "rotation": [
329
+ 0,
330
+ 0,
331
+ 0
332
+ ]
333
+ },
334
+ "location": [
335
+ 492.289,
336
+ -232.097,
337
+ 29.729
338
+ ],
339
+ "rotation": [
340
+ 0,
341
+ 0,
342
+ 0
343
+ ],
344
+ "scale": [
345
+ 1,
346
+ 1,
347
+ 1
348
+ ]
349
+ },
350
+ "color": [
351
+ 255,
352
+ 127,
353
+ 0
354
+ ]
355
+ },
356
+ {
357
+ "object_id": "SM_AI_vol12_02_Wall_8_1",
358
+ "bbox_2d": [
359
+ 1714,
360
+ 436,
361
+ 1919,
362
+ 1079
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ -254.78200000000004,
368
+ 128.015,
369
+ 210.4329337158203
370
+ ],
371
+ "extent": [
372
+ 217.4521026611328,
373
+ 232.69874572753906,
374
+ 180.7039337158203
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ -254.78200000000004,
380
+ 128.015,
381
+ 210.4329337158203
382
+ ],
383
+ "extent": [
384
+ 217.4521026611328,
385
+ 232.69874572753906,
386
+ 180.7039337158203
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ -254.782,
396
+ 128.015,
397
+ 29.729
398
+ ],
399
+ "rotation": [
400
+ 0,
401
+ 0,
402
+ 0
403
+ ],
404
+ "scale": [
405
+ 1,
406
+ 1,
407
+ 1
408
+ ]
409
+ },
410
+ "color": [
411
+ 127,
412
+ 0,
413
+ 255
414
+ ]
415
+ },
416
+ {
417
+ "object_id": "SM_AI_vol12_02_Wall_9_1",
418
+ "bbox_2d": [
419
+ 1630,
420
+ 293,
421
+ 1663,
422
+ 305
423
+ ],
424
+ "bbox_3d": {
425
+ "aabb": {
426
+ "center": [
427
+ 86.66842916432347,
428
+ 150.61900000000003,
429
+ 585.7907065429688
430
+ ],
431
+ "extent": [
432
+ 118.70797729492188,
433
+ 225.9097137451172,
434
+ 196.06170654296875
435
+ ]
436
+ },
437
+ "obb": {
438
+ "center": [
439
+ 86.66842916432346,
440
+ 150.619,
441
+ 585.7907065429688
442
+ ],
443
+ "extent": [
444
+ 118.70797729492188,
445
+ 225.9097137451172,
446
+ 196.06170654296875
447
+ ],
448
+ "rotation": [
449
+ 0,
450
+ 0,
451
+ 0
452
+ ]
453
+ },
454
+ "location": [
455
+ 86.66842916432346,
456
+ 150.619,
457
+ 389.729
458
+ ],
459
+ "rotation": [
460
+ 0,
461
+ 0,
462
+ 0
463
+ ],
464
+ "scale": [
465
+ 1,
466
+ 1,
467
+ 1
468
+ ]
469
+ },
470
+ "color": [
471
+ 127,
472
+ 255,
473
+ 0
474
+ ]
475
+ },
476
+ {
477
+ "object_id": "SM_AI_vol12_02_Wall_16_1",
478
+ "bbox_2d": [
479
+ 1703,
480
+ 261,
481
+ 1919,
482
+ 334
483
+ ],
484
+ "bbox_3d": {
485
+ "aabb": {
486
+ "center": [
487
+ -250.46037083567654,
488
+ 136.49199999999996,
489
+ 583.4498251953125
490
+ ],
491
+ "extent": [
492
+ 221.8224639892578,
493
+ 240.0364990234375,
494
+ 193.7208251953125
495
+ ]
496
+ },
497
+ "obb": {
498
+ "center": [
499
+ -250.46037083567654,
500
+ 136.492,
501
+ 583.4498251953125
502
+ ],
503
+ "extent": [
504
+ 221.8224639892578,
505
+ 240.0364990234375,
506
+ 193.7208251953125
507
+ ],
508
+ "rotation": [
509
+ 0,
510
+ 0,
511
+ 0
512
+ ]
513
+ },
514
+ "location": [
515
+ -250.46037083567654,
516
+ 136.492,
517
+ 389.729
518
+ ],
519
+ "rotation": [
520
+ 0,
521
+ 0,
522
+ 0
523
+ ],
524
+ "scale": [
525
+ 1,
526
+ 1,
527
+ 1
528
+ ]
529
+ },
530
+ "color": [
531
+ 0,
532
+ 0,
533
+ 63
534
+ ]
535
+ }
536
+ ],
537
+ "ceiling construction": [
538
+ {
539
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
540
+ "bbox_2d": [
541
+ 0,
542
+ 0,
543
+ 1029,
544
+ 270
545
+ ],
546
+ "bbox_3d": {
547
+ "aabb": {
548
+ "center": [
549
+ 14.060200000000009,
550
+ -466.8179847412109,
551
+ 344.82342364501955
552
+ ],
553
+ "extent": [
554
+ 392.0332946777344,
555
+ 374.09112548828125,
556
+ 53.95142364501953
557
+ ]
558
+ },
559
+ "obb": {
560
+ "center": [
561
+ 14.060200000000009,
562
+ -466.8179847412109,
563
+ 344.82342364501955
564
+ ],
565
+ "extent": [
566
+ 392.0332946777344,
567
+ 374.09112548828125,
568
+ 53.95142364501953
569
+ ],
570
+ "rotation": [
571
+ 0,
572
+ 0,
573
+ 0
574
+ ]
575
+ },
576
+ "location": [
577
+ 14.0602,
578
+ -466.818,
579
+ 290.872
580
+ ],
581
+ "rotation": [
582
+ 0,
583
+ 0,
584
+ 0
585
+ ],
586
+ "scale": [
587
+ 1,
588
+ 1,
589
+ 1
590
+ ]
591
+ },
592
+ "color": [
593
+ 255,
594
+ 0,
595
+ 63
596
+ ]
597
+ }
598
+ ],
599
+ "stairs": [
600
+ {
601
+ "object_id": "SM_AI_vol12_02_Stairs_1_1",
602
+ "bbox_2d": [
603
+ 1337,
604
+ 346,
605
+ 1919,
606
+ 1079
607
+ ],
608
+ "bbox_3d": {
609
+ "aabb": {
610
+ "center": [
611
+ -80.33650762939453,
612
+ 44.849199999999996,
613
+ 249.99920270996097
614
+ ],
615
+ "extent": [
616
+ 193.55096435546875,
617
+ 152.25680541992188,
618
+ 220.00340270996094
619
+ ]
620
+ },
621
+ "obb": {
622
+ "center": [
623
+ -80.33650762939453,
624
+ 44.849199999999996,
625
+ 249.99920270996094
626
+ ],
627
+ "extent": [
628
+ 193.55096435546875,
629
+ 152.25680541992188,
630
+ 220.00340270996094
631
+ ],
632
+ "rotation": [
633
+ 0,
634
+ 0,
635
+ 0
636
+ ]
637
+ },
638
+ "location": [
639
+ -80.3365,
640
+ 44.8492,
641
+ 29.9958
642
+ ],
643
+ "rotation": [
644
+ 0,
645
+ 0,
646
+ 0
647
+ ],
648
+ "scale": [
649
+ 1,
650
+ 1,
651
+ 1
652
+ ]
653
+ },
654
+ "color": [
655
+ 127,
656
+ 127,
657
+ 63
658
+ ]
659
+ }
660
+ ],
661
+ "window": [
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Window_1_1",
664
+ "bbox_2d": [
665
+ 1699,
666
+ 288,
667
+ 1734,
668
+ 592
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ -27.202862857055663,
674
+ 300.2924813079834,
675
+ 383.73327246093754
676
+ ],
677
+ "extent": [
678
+ 48.116615295410156,
679
+ 72.9643325805664,
680
+ 352.9642333984375
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ -27.202862857055663,
686
+ 300.2924813079834,
687
+ 383.7332724609375
688
+ ],
689
+ "extent": [
690
+ 48.116615295410156,
691
+ 72.9643325805664,
692
+ 352.9642333984375
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ -27.2457,
702
+ 290.13,
703
+ 29.729
704
+ ],
705
+ "rotation": [
706
+ 0,
707
+ 0,
708
+ 0
709
+ ],
710
+ "scale": [
711
+ 1,
712
+ 1,
713
+ 1
714
+ ]
715
+ },
716
+ "color": [
717
+ 0,
718
+ 63,
719
+ 255
720
+ ]
721
+ },
722
+ {
723
+ "object_id": "SM_AI_vol12_02_Window_2_1",
724
+ "bbox_2d": [
725
+ 747,
726
+ 373,
727
+ 946,
728
+ 1079
729
+ ],
730
+ "bbox_3d": {
731
+ "aabb": {
732
+ "center": [
733
+ 197.11,
734
+ -70.4276,
735
+ 203.33648068847657
736
+ ],
737
+ "extent": [
738
+ 40.70147705078125,
739
+ 26.7047119140625,
740
+ 171.80458068847656
741
+ ]
742
+ },
743
+ "obb": {
744
+ "center": [
745
+ 197.11,
746
+ -70.4276,
747
+ 203.33648068847657
748
+ ],
749
+ "extent": [
750
+ 40.70147705078125,
751
+ 26.7047119140625,
752
+ 171.80458068847656
753
+ ],
754
+ "rotation": [
755
+ 0,
756
+ 0,
757
+ 0
758
+ ]
759
+ },
760
+ "location": [
761
+ 197.11,
762
+ -70.4276,
763
+ 31.5319
764
+ ],
765
+ "rotation": [
766
+ 0,
767
+ 0,
768
+ 0
769
+ ],
770
+ "scale": [
771
+ 1,
772
+ 1,
773
+ 1
774
+ ]
775
+ },
776
+ "color": [
777
+ 0,
778
+ 63,
779
+ 127
780
+ ]
781
+ }
782
+ ],
783
+ "window glass": [
784
+ {
785
+ "object_id": "SM_AI_vol12_02_Window_glass_1_1",
786
+ "bbox_2d": [
787
+ 1617,
788
+ 289,
789
+ 1804,
790
+ 1079
791
+ ],
792
+ "bbox_3d": {
793
+ "aabb": {
794
+ "center": [
795
+ -27.148480532836913,
796
+ 300.574580078125,
797
+ 383.29677954101567
798
+ ],
799
+ "extent": [
800
+ 45.95030975341797,
801
+ 70.68048095703125,
802
+ 351.5565490722656
803
+ ]
804
+ },
805
+ "obb": {
806
+ "center": [
807
+ -27.148480532836913,
808
+ 300.574580078125,
809
+ 383.2967795410156
810
+ ],
811
+ "extent": [
812
+ 45.95030975341797,
813
+ 70.68048095703125,
814
+ 351.5565490722656
815
+ ],
816
+ "rotation": [
817
+ 0,
818
+ 0,
819
+ 0
820
+ ]
821
+ },
822
+ "location": [
823
+ -27.2457,
824
+ 290.13,
825
+ 29.729
826
+ ],
827
+ "rotation": [
828
+ 0,
829
+ 0,
830
+ 0
831
+ ],
832
+ "scale": [
833
+ 1,
834
+ 1,
835
+ 1
836
+ ]
837
+ },
838
+ "color": [
839
+ 127,
840
+ 63,
841
+ 127
842
+ ]
843
+ },
844
+ {
845
+ "object_id": "SM_AI_vol12_02_Window_glass_2_1",
846
+ "bbox_2d": [
847
+ 757,
848
+ 373,
849
+ 941,
850
+ 1079
851
+ ],
852
+ "bbox_3d": {
853
+ "aabb": {
854
+ "center": [
855
+ 197.142,
856
+ -70.4178,
857
+ 203.24713515625
858
+ ],
859
+ "extent": [
860
+ 37.23919677734375,
861
+ 22.606124877929688,
862
+ 169.93603515625
863
+ ]
864
+ },
865
+ "obb": {
866
+ "center": [
867
+ 197.142,
868
+ -70.4178,
869
+ 203.24713515625
870
+ ],
871
+ "extent": [
872
+ 37.23919677734375,
873
+ 22.606124877929688,
874
+ 169.93603515625
875
+ ],
876
+ "rotation": [
877
+ 0,
878
+ 0,
879
+ 0
880
+ ]
881
+ },
882
+ "location": [
883
+ 197.142,
884
+ -70.4178,
885
+ 33.3111
886
+ ],
887
+ "rotation": [
888
+ 0,
889
+ 0,
890
+ 0
891
+ ],
892
+ "scale": [
893
+ 1,
894
+ 1,
895
+ 1
896
+ ]
897
+ },
898
+ "color": [
899
+ 0,
900
+ 63,
901
+ 63
902
+ ]
903
+ },
904
+ {
905
+ "object_id": "SM_AI_vol12_02_Window_glass_3_1",
906
+ "bbox_2d": [
907
+ 95,
908
+ 435,
909
+ 261,
910
+ 1079
911
+ ],
912
+ "bbox_3d": {
913
+ "aabb": {
914
+ "center": [
915
+ 491.49184790039067,
916
+ -101.03965939941406,
917
+ 348.5740317382813
918
+ ],
919
+ "extent": [
920
+ 52.6355895996094,
921
+ 40.09288024902344,
922
+ 316.5819091796875
923
+ ]
924
+ },
925
+ "obb": {
926
+ "center": [
927
+ 491.49184790039067,
928
+ -101.03965939941406,
929
+ 348.57403173828123
930
+ ],
931
+ "extent": [
932
+ 52.6355895996094,
933
+ 40.09288024902344,
934
+ 316.5819091796875
935
+ ],
936
+ "rotation": [
937
+ 0,
938
+ 0,
939
+ 0
940
+ ]
941
+ },
942
+ "location": [
943
+ 490.104,
944
+ -99.9769,
945
+ 29.729
946
+ ],
947
+ "rotation": [
948
+ 0,
949
+ 0,
950
+ 0
951
+ ],
952
+ "scale": [
953
+ 1,
954
+ 1,
955
+ 1
956
+ ]
957
+ },
958
+ "color": [
959
+ 255,
960
+ 63,
961
+ 63
962
+ ]
963
+ }
964
+ ]
965
+ },
966
+ "foreground": {
967
+ "fire alarm": [
968
+ {
969
+ "object_id": "SM_AI_vol12_02_Fire_Alarm_1_1",
970
+ "bbox_2d": [
971
+ 1206,
972
+ 935,
973
+ 1247,
974
+ 984
975
+ ],
976
+ "bbox_3d": {
977
+ "aabb": {
978
+ "center": [
979
+ 121.96586040880331,
980
+ 21.62493519342352,
981
+ 193.62957937203007
982
+ ],
983
+ "extent": [
984
+ 5.475914132887809,
985
+ 6.693747729026345,
986
+ 6.36363703443817
987
+ ]
988
+ },
989
+ "obb": {
990
+ "center": [
991
+ 121.96586040880331,
992
+ 21.62493519342352,
993
+ 193.62957937203007
994
+ ],
995
+ "extent": [
996
+ 5.475914132887809,
997
+ 6.693747729026345,
998
+ 6.36363703443817
999
+ ],
1000
+ "rotation": [
1001
+ 8.034876264047209e-13,
1002
+ 118.44794578127137,
1003
+ -3.676471794484711
1004
+ ]
1005
+ },
1006
+ "location": [
1007
+ 124.20275258589528,
1008
+ 22.83683848060578,
1009
+ 192.91728461988254
1010
+ ],
1011
+ "rotation": [
1012
+ 8.034876264047209e-13,
1013
+ 118.44794578127137,
1014
+ -3.676471794484711
1015
+ ],
1016
+ "scale": [
1017
+ 1,
1018
+ 1,
1019
+ 1
1020
+ ]
1021
+ },
1022
+ "color": [
1023
+ 63,
1024
+ 191,
1025
+ 0
1026
+ ]
1027
+ }
1028
+ ],
1029
+ "switch": [
1030
+ {
1031
+ "object_id": "SM_AI_vol12_02_switch_1_1",
1032
+ "bbox_2d": [
1033
+ 1023,
1034
+ 987,
1035
+ 1050,
1036
+ 1026
1037
+ ],
1038
+ "bbox_3d": {
1039
+ "aabb": {
1040
+ "center": [
1041
+ 157.03391920591054,
1042
+ -38.64782541918305,
1043
+ 195.05934441105256
1044
+ ],
1045
+ "extent": [
1046
+ 2.8713895084,
1047
+ 4.110751379633456,
1048
+ 4.2442087809290285
1049
+ ]
1050
+ },
1051
+ "obb": {
1052
+ "center": [
1053
+ 157.03391920591054,
1054
+ -38.64782541918305,
1055
+ 195.05934441105256
1056
+ ],
1057
+ "extent": [
1058
+ 2.8713895084,
1059
+ 4.110751379633456,
1060
+ 4.2442087809290285
1061
+ ],
1062
+ "rotation": [
1063
+ 0.6677387835223151,
1064
+ 118.38370715706026,
1065
+ -3.3241961483847144
1066
+ ]
1067
+ },
1068
+ "location": [
1069
+ 157.67546334078443,
1070
+ -38.300617564077776,
1071
+ 195.01698465740535
1072
+ ],
1073
+ "rotation": [
1074
+ 0.6677387835223151,
1075
+ 118.38370715706026,
1076
+ -3.3241961483847144
1077
+ ],
1078
+ "scale": [
1079
+ 1,
1080
+ 1,
1081
+ 1
1082
+ ]
1083
+ },
1084
+ "color": [
1085
+ 63,
1086
+ 191,
1087
+ 255
1088
+ ]
1089
+ }
1090
+ ]
1091
+ }
1092
+ }
scenes/annotations/AIUE5_vol12_02/l013_off2_r002/scene_annotations_split.json ADDED
@@ -0,0 +1,1218 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l013_off2_r002",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l013_off2_r002/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 57,
8
+ -501,
9
+ 351
10
+ ],
11
+ "rotation": [
12
+ 0,
13
+ 119.99999999999999,
14
+ 0
15
+ ],
16
+ "fov": 90,
17
+ "c2w": [
18
+ [
19
+ -0.4999999999999998,
20
+ 0.8660254037844384,
21
+ 0,
22
+ 0
23
+ ],
24
+ [
25
+ -0.8660254037844384,
26
+ -0.4999999999999998,
27
+ 0,
28
+ 0
29
+ ],
30
+ [
31
+ 0,
32
+ 0,
33
+ 1,
34
+ 0
35
+ ],
36
+ [
37
+ 57,
38
+ -501,
39
+ 351,
40
+ 1
41
+ ]
42
+ ],
43
+ "width": 1920,
44
+ "height": 1080,
45
+ "fxfycxcy": [
46
+ 960.0000000000001,
47
+ 960.0000000000002,
48
+ 960.0,
49
+ 540.0
50
+ ]
51
+ },
52
+ "background": {
53
+ "floor": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
56
+ "bbox_2d": [
57
+ 0,
58
+ 340,
59
+ 1919,
60
+ 523
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -109.43883007812497,
66
+ -305.40692504882804,
67
+ 381.5008540039062
68
+ ],
69
+ "extent": [
70
+ 632.2734375,
71
+ 649.2933349609375,
72
+ 17.98785400390625
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -109.43883007812497,
78
+ -305.40692504882804,
79
+ 381.5008540039062
80
+ ],
81
+ "extent": [
82
+ 632.2734375,
83
+ 649.2933349609375,
84
+ 17.98785400390625
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -107.713,
94
+ -305.84,
95
+ 363.513
96
+ ],
97
+ "rotation": [
98
+ 0,
99
+ 0,
100
+ 0
101
+ ],
102
+ "scale": [
103
+ 1,
104
+ 1,
105
+ 1
106
+ ]
107
+ },
108
+ "color": [
109
+ 255,
110
+ 255,
111
+ 127
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Floor_4_1",
116
+ "bbox_2d": [
117
+ 510,
118
+ 967,
119
+ 1326,
120
+ 1079
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ -85.68488818359378,
126
+ -331.4413950195312,
127
+ 30.228998092651366
128
+ ],
129
+ "extent": [
130
+ 589.0018920898438,
131
+ 598.1265258789062,
132
+ 0.4999980926513672
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ -85.68488818359378,
138
+ -331.4413950195312,
139
+ 30.228998092651366
140
+ ],
141
+ "extent": [
142
+ 589.0018920898438,
143
+ 598.1265258789062,
144
+ 0.4999980926513672
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ -99.5995,
154
+ -307.299,
155
+ 29.729
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 0,
170
+ 127,
171
+ 63
172
+ ]
173
+ },
174
+ {
175
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
176
+ "bbox_2d": [
177
+ 0,
178
+ 227,
179
+ 1919,
180
+ 440
181
+ ],
182
+ "bbox_3d": {
183
+ "aabb": {
184
+ "center": [
185
+ 15.152699999999982,
186
+ -467.03198474121086,
187
+ 399.3307082519531
188
+ ],
189
+ "extent": [
190
+ 390.8625183105469,
191
+ 373.12469482421875,
192
+ 0.169708251953125
193
+ ]
194
+ },
195
+ "obb": {
196
+ "center": [
197
+ 15.152699999999982,
198
+ -467.03198474121086,
199
+ 399.3307082519531
200
+ ],
201
+ "extent": [
202
+ 390.8625183105469,
203
+ 373.12469482421875,
204
+ 0.169708251953125
205
+ ],
206
+ "rotation": [
207
+ 0,
208
+ 0,
209
+ 0
210
+ ]
211
+ },
212
+ "location": [
213
+ 15.1527,
214
+ -467.032,
215
+ 399.161
216
+ ],
217
+ "rotation": [
218
+ 0,
219
+ 0,
220
+ 0
221
+ ],
222
+ "scale": [
223
+ 1,
224
+ 1,
225
+ 1
226
+ ]
227
+ },
228
+ "color": [
229
+ 0,
230
+ 63,
231
+ 0
232
+ ]
233
+ }
234
+ ],
235
+ "wall": [
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Wall_1_1",
238
+ "bbox_2d": [
239
+ 0,
240
+ 506,
241
+ 513,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 93.24939999999998,
248
+ 133.91399237060546,
249
+ 210.14428320312498
250
+ ],
251
+ "extent": [
252
+ 111.80139923095703,
253
+ 209.30471801757812,
254
+ 180.415283203125
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 93.2494,
260
+ 133.91399237060546,
261
+ 210.14428320312498
262
+ ],
263
+ "extent": [
264
+ 111.80139923095703,
265
+ 209.30471801757812,
266
+ 180.415283203125
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 93.2494,
276
+ 133.914,
277
+ 29.729
278
+ ],
279
+ "rotation": [
280
+ 0,
281
+ 0,
282
+ 0
283
+ ],
284
+ "scale": [
285
+ 1,
286
+ 1,
287
+ 1
288
+ ]
289
+ },
290
+ "color": [
291
+ 0,
292
+ 127,
293
+ 0
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_7_1",
298
+ "bbox_2d": [
299
+ 1354,
300
+ 519,
301
+ 1919,
302
+ 1079
303
+ ],
304
+ "bbox_3d": {
305
+ "aabb": {
306
+ "center": [
307
+ -596.738,
308
+ -366.425015258789,
309
+ 210.4329337158203
310
+ ],
311
+ "extent": [
312
+ 162.47100830078125,
313
+ 277.39666748046875,
314
+ 180.7039337158203
315
+ ]
316
+ },
317
+ "obb": {
318
+ "center": [
319
+ -596.738,
320
+ -366.425015258789,
321
+ 210.4329337158203
322
+ ],
323
+ "extent": [
324
+ 162.47100830078125,
325
+ 277.39666748046875,
326
+ 180.7039337158203
327
+ ],
328
+ "rotation": [
329
+ 0,
330
+ 0,
331
+ 0
332
+ ]
333
+ },
334
+ "location": [
335
+ -596.738,
336
+ -366.425,
337
+ 29.729
338
+ ],
339
+ "rotation": [
340
+ 0,
341
+ 0,
342
+ 0
343
+ ],
344
+ "scale": [
345
+ 1,
346
+ 1,
347
+ 1
348
+ ]
349
+ },
350
+ "color": [
351
+ 127,
352
+ 0,
353
+ 0
354
+ ]
355
+ },
356
+ {
357
+ "object_id": "SM_AI_vol12_02_Wall_8_1",
358
+ "bbox_2d": [
359
+ 546,
360
+ 520,
361
+ 1339,
362
+ 1075
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ -254.78200000000004,
368
+ 128.015,
369
+ 210.4329337158203
370
+ ],
371
+ "extent": [
372
+ 217.4521026611328,
373
+ 232.69874572753906,
374
+ 180.7039337158203
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ -254.78200000000004,
380
+ 128.015,
381
+ 210.4329337158203
382
+ ],
383
+ "extent": [
384
+ 217.4521026611328,
385
+ 232.69874572753906,
386
+ 180.7039337158203
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ -254.782,
396
+ 128.015,
397
+ 29.729
398
+ ],
399
+ "rotation": [
400
+ 0,
401
+ 0,
402
+ 0
403
+ ],
404
+ "scale": [
405
+ 1,
406
+ 1,
407
+ 1
408
+ ]
409
+ },
410
+ "color": [
411
+ 127,
412
+ 0,
413
+ 255
414
+ ]
415
+ }
416
+ ],
417
+ "ceiling construction": [
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
420
+ "bbox_2d": [
421
+ 0,
422
+ 0,
423
+ 1919,
424
+ 1079
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ 14.060200000000009,
430
+ -466.8179847412109,
431
+ 344.82342364501955
432
+ ],
433
+ "extent": [
434
+ 392.0332946777344,
435
+ 374.09112548828125,
436
+ 53.95142364501953
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ 14.060200000000009,
442
+ -466.8179847412109,
443
+ 344.82342364501955
444
+ ],
445
+ "extent": [
446
+ 392.0332946777344,
447
+ 374.09112548828125,
448
+ 53.95142364501953
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ 14.0602,
458
+ -466.818,
459
+ 290.872
460
+ ],
461
+ "rotation": [
462
+ 0,
463
+ 0,
464
+ 0
465
+ ],
466
+ "scale": [
467
+ 1,
468
+ 1,
469
+ 1
470
+ ]
471
+ },
472
+ "color": [
473
+ 255,
474
+ 0,
475
+ 63
476
+ ]
477
+ }
478
+ ],
479
+ "floor glass": [
480
+ {
481
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
482
+ "bbox_2d": [
483
+ 238,
484
+ 236,
485
+ 1919,
486
+ 389
487
+ ],
488
+ "bbox_3d": {
489
+ "aabb": {
490
+ "center": [
491
+ 12.276647143554683,
492
+ -409.4788231201171,
493
+ 399.4571883544922
494
+ ],
495
+ "extent": [
496
+ 250.27244567871094,
497
+ 216.33436584472653,
498
+ 0.0432586669921875
499
+ ]
500
+ },
501
+ "obb": {
502
+ "center": [
503
+ 12.276647143554698,
504
+ -409.4788231201171,
505
+ 399.4571883544922
506
+ ],
507
+ "extent": [
508
+ 250.27244567871094,
509
+ 216.33436584472653,
510
+ 0.0432586669921875
511
+ ],
512
+ "rotation": [
513
+ 0,
514
+ 0,
515
+ 0
516
+ ]
517
+ },
518
+ "location": [
519
+ 15.1527,
520
+ -467.032,
521
+ 399.161
522
+ ],
523
+ "rotation": [
524
+ 0,
525
+ 0,
526
+ 0
527
+ ],
528
+ "scale": [
529
+ 1,
530
+ 1,
531
+ 1
532
+ ]
533
+ },
534
+ "color": [
535
+ 127,
536
+ 0,
537
+ 63
538
+ ]
539
+ }
540
+ ],
541
+ "stairs": [
542
+ {
543
+ "object_id": "SM_AI_vol12_02_Stairs_1_1",
544
+ "bbox_2d": [
545
+ 323,
546
+ 509,
547
+ 1015,
548
+ 1079
549
+ ],
550
+ "bbox_3d": {
551
+ "aabb": {
552
+ "center": [
553
+ -80.33650762939453,
554
+ 44.849199999999996,
555
+ 249.99920270996097
556
+ ],
557
+ "extent": [
558
+ 193.55096435546875,
559
+ 152.25680541992188,
560
+ 220.00340270996094
561
+ ]
562
+ },
563
+ "obb": {
564
+ "center": [
565
+ -80.33650762939453,
566
+ 44.849199999999996,
567
+ 249.99920270996094
568
+ ],
569
+ "extent": [
570
+ 193.55096435546875,
571
+ 152.25680541992188,
572
+ 220.00340270996094
573
+ ],
574
+ "rotation": [
575
+ 0,
576
+ 0,
577
+ 0
578
+ ]
579
+ },
580
+ "location": [
581
+ -80.3365,
582
+ 44.8492,
583
+ 29.9958
584
+ ],
585
+ "rotation": [
586
+ 0,
587
+ 0,
588
+ 0
589
+ ],
590
+ "scale": [
591
+ 1,
592
+ 1,
593
+ 1
594
+ ]
595
+ },
596
+ "color": [
597
+ 127,
598
+ 127,
599
+ 63
600
+ ]
601
+ }
602
+ ],
603
+ "window": [
604
+ {
605
+ "object_id": "SM_AI_vol12_02_Window_1_1",
606
+ "bbox_2d": [
607
+ 546,
608
+ 529,
609
+ 597,
610
+ 968
611
+ ],
612
+ "bbox_3d": {
613
+ "aabb": {
614
+ "center": [
615
+ -27.202862857055663,
616
+ 300.2924813079834,
617
+ 383.73327246093754
618
+ ],
619
+ "extent": [
620
+ 48.116615295410156,
621
+ 72.9643325805664,
622
+ 352.9642333984375
623
+ ]
624
+ },
625
+ "obb": {
626
+ "center": [
627
+ -27.202862857055663,
628
+ 300.2924813079834,
629
+ 383.7332724609375
630
+ ],
631
+ "extent": [
632
+ 48.116615295410156,
633
+ 72.9643325805664,
634
+ 352.9642333984375
635
+ ],
636
+ "rotation": [
637
+ 0,
638
+ 0,
639
+ 0
640
+ ]
641
+ },
642
+ "location": [
643
+ -27.2457,
644
+ 290.13,
645
+ 29.729
646
+ ],
647
+ "rotation": [
648
+ 0,
649
+ 0,
650
+ 0
651
+ ],
652
+ "scale": [
653
+ 1,
654
+ 1,
655
+ 1
656
+ ]
657
+ },
658
+ "color": [
659
+ 0,
660
+ 63,
661
+ 255
662
+ ]
663
+ },
664
+ {
665
+ "object_id": "SM_AI_vol12_02_Window_2_1",
666
+ "bbox_2d": [
667
+ 2,
668
+ 1051,
669
+ 17,
670
+ 1079
671
+ ],
672
+ "bbox_3d": {
673
+ "aabb": {
674
+ "center": [
675
+ 197.11,
676
+ -70.4276,
677
+ 203.33648068847657
678
+ ],
679
+ "extent": [
680
+ 40.70147705078125,
681
+ 26.7047119140625,
682
+ 171.80458068847656
683
+ ]
684
+ },
685
+ "obb": {
686
+ "center": [
687
+ 197.11,
688
+ -70.4276,
689
+ 203.33648068847657
690
+ ],
691
+ "extent": [
692
+ 40.70147705078125,
693
+ 26.7047119140625,
694
+ 171.80458068847656
695
+ ],
696
+ "rotation": [
697
+ 0,
698
+ 0,
699
+ 0
700
+ ]
701
+ },
702
+ "location": [
703
+ 197.11,
704
+ -70.4276,
705
+ 31.5319
706
+ ],
707
+ "rotation": [
708
+ 0,
709
+ 0,
710
+ 0
711
+ ],
712
+ "scale": [
713
+ 1,
714
+ 1,
715
+ 1
716
+ ]
717
+ },
718
+ "color": [
719
+ 0,
720
+ 63,
721
+ 127
722
+ ]
723
+ },
724
+ {
725
+ "object_id": "SM_AI_vol12_02_Window_7_1",
726
+ "bbox_2d": [
727
+ 1266,
728
+ 526,
729
+ 1360,
730
+ 1079
731
+ ],
732
+ "bbox_3d": {
733
+ "aabb": {
734
+ "center": [
735
+ -429.77315234375,
736
+ -120.02817706298828,
737
+ 202.49139013671873
738
+ ],
739
+ "extent": [
740
+ 35.68157958984375,
741
+ 39.985801696777344,
742
+ 171.5279541015625
743
+ ]
744
+ },
745
+ "obb": {
746
+ "center": [
747
+ -429.77315234375,
748
+ -120.02817706298828,
749
+ 202.49139013671873
750
+ ],
751
+ "extent": [
752
+ 35.68157958984375,
753
+ 39.985801696777344,
754
+ 171.5279541015625
755
+ ],
756
+ "rotation": [
757
+ 0,
758
+ 0,
759
+ 0
760
+ ]
761
+ },
762
+ "location": [
763
+ -429.592,
764
+ -117.767,
765
+ 29.729
766
+ ],
767
+ "rotation": [
768
+ 0,
769
+ 0,
770
+ 0
771
+ ],
772
+ "scale": [
773
+ 1,
774
+ 1,
775
+ 1
776
+ ]
777
+ },
778
+ "color": [
779
+ 127,
780
+ 63,
781
+ 255
782
+ ]
783
+ }
784
+ ],
785
+ "window glass": [
786
+ {
787
+ "object_id": "SM_AI_vol12_02_Window_glass_1_1",
788
+ "bbox_2d": [
789
+ 487,
790
+ 524,
791
+ 596,
792
+ 968
793
+ ],
794
+ "bbox_3d": {
795
+ "aabb": {
796
+ "center": [
797
+ -27.148480532836913,
798
+ 300.574580078125,
799
+ 383.29677954101567
800
+ ],
801
+ "extent": [
802
+ 45.95030975341797,
803
+ 70.68048095703125,
804
+ 351.5565490722656
805
+ ]
806
+ },
807
+ "obb": {
808
+ "center": [
809
+ -27.148480532836913,
810
+ 300.574580078125,
811
+ 383.2967795410156
812
+ ],
813
+ "extent": [
814
+ 45.95030975341797,
815
+ 70.68048095703125,
816
+ 351.5565490722656
817
+ ],
818
+ "rotation": [
819
+ 0,
820
+ 0,
821
+ 0
822
+ ]
823
+ },
824
+ "location": [
825
+ -27.2457,
826
+ 290.13,
827
+ 29.729
828
+ ],
829
+ "rotation": [
830
+ 0,
831
+ 0,
832
+ 0
833
+ ],
834
+ "scale": [
835
+ 1,
836
+ 1,
837
+ 1
838
+ ]
839
+ },
840
+ "color": [
841
+ 127,
842
+ 63,
843
+ 127
844
+ ]
845
+ },
846
+ {
847
+ "object_id": "SM_AI_vol12_02_Window_glass_2_1",
848
+ "bbox_2d": [
849
+ 0,
850
+ 1051,
851
+ 6,
852
+ 1079
853
+ ],
854
+ "bbox_3d": {
855
+ "aabb": {
856
+ "center": [
857
+ 197.142,
858
+ -70.4178,
859
+ 203.24713515625
860
+ ],
861
+ "extent": [
862
+ 37.23919677734375,
863
+ 22.606124877929688,
864
+ 169.93603515625
865
+ ]
866
+ },
867
+ "obb": {
868
+ "center": [
869
+ 197.142,
870
+ -70.4178,
871
+ 203.24713515625
872
+ ],
873
+ "extent": [
874
+ 37.23919677734375,
875
+ 22.606124877929688,
876
+ 169.93603515625
877
+ ],
878
+ "rotation": [
879
+ 0,
880
+ 0,
881
+ 0
882
+ ]
883
+ },
884
+ "location": [
885
+ 197.142,
886
+ -70.4178,
887
+ 33.3111
888
+ ],
889
+ "rotation": [
890
+ 0,
891
+ 0,
892
+ 0
893
+ ],
894
+ "scale": [
895
+ 1,
896
+ 1,
897
+ 1
898
+ ]
899
+ },
900
+ "color": [
901
+ 0,
902
+ 63,
903
+ 63
904
+ ]
905
+ },
906
+ {
907
+ "object_id": "SM_AI_vol12_02_Window_glass_7_1",
908
+ "bbox_2d": [
909
+ 1267,
910
+ 527,
911
+ 1411,
912
+ 1079
913
+ ],
914
+ "bbox_3d": {
915
+ "aabb": {
916
+ "center": [
917
+ -429.7319993896484,
918
+ -120.46578387451171,
919
+ 202.2577628173828
920
+ ],
921
+ "extent": [
922
+ 33.27091979980469,
923
+ 37.76592254638672,
924
+ 170.1311492919922
925
+ ]
926
+ },
927
+ "obb": {
928
+ "center": [
929
+ -429.7319993896484,
930
+ -120.46578387451171,
931
+ 202.2577628173828
932
+ ],
933
+ "extent": [
934
+ 33.27091979980469,
935
+ 37.76592254638672,
936
+ 170.1311492919922
937
+ ],
938
+ "rotation": [
939
+ 0,
940
+ 0,
941
+ 0
942
+ ]
943
+ },
944
+ "location": [
945
+ -429.592,
946
+ -117.767,
947
+ 29.729
948
+ ],
949
+ "rotation": [
950
+ 0,
951
+ 0,
952
+ 0
953
+ ],
954
+ "scale": [
955
+ 1,
956
+ 1,
957
+ 1
958
+ ]
959
+ },
960
+ "color": [
961
+ 63,
962
+ 0,
963
+ 127
964
+ ]
965
+ }
966
+ ]
967
+ },
968
+ "foreground": {
969
+ "halogen": [
970
+ {
971
+ "object_id": "SM_AI_vol12_02_halogen_1_1",
972
+ "bbox_2d": [
973
+ 1501,
974
+ 530,
975
+ 1541,
976
+ 582
977
+ ],
978
+ "bbox_3d": {
979
+ "aabb": {
980
+ "center": [
981
+ -413.9310100677407,
982
+ -232.98785409215031,
983
+ 343.4466411270422
984
+ ],
985
+ "extent": [
986
+ 5.976463005250821,
987
+ 9.676017022354785,
988
+ 13.420366287231445
989
+ ]
990
+ },
991
+ "obb": {
992
+ "center": [
993
+ -413.9310100677407,
994
+ -232.98785409215031,
995
+ 343.4466411270422
996
+ ],
997
+ "extent": [
998
+ 5.976463005250821,
999
+ 9.676017022354785,
1000
+ 13.420366287231445
1001
+ ],
1002
+ "rotation": [
1003
+ 0,
1004
+ -95.85149897932936,
1005
+ 0
1006
+ ]
1007
+ },
1008
+ "location": [
1009
+ -413.65629155295034,
1010
+ -232.98822096173257,
1011
+ 356.86700741427364
1012
+ ],
1013
+ "rotation": [
1014
+ 0,
1015
+ -95.85149897932936,
1016
+ 0
1017
+ ],
1018
+ "scale": [
1019
+ 1,
1020
+ 1,
1021
+ 1
1022
+ ]
1023
+ },
1024
+ "color": [
1025
+ 63,
1026
+ 127,
1027
+ 63
1028
+ ]
1029
+ }
1030
+ ],
1031
+ "fire alarm": [
1032
+ {
1033
+ "object_id": "SM_AI_vol12_02_Fire_Alarm_1_1",
1034
+ "bbox_2d": [
1035
+ 218,
1036
+ 884,
1037
+ 245,
1038
+ 918
1039
+ ],
1040
+ "bbox_3d": {
1041
+ "aabb": {
1042
+ "center": [
1043
+ 121.96586040880331,
1044
+ 21.62493519342352,
1045
+ 193.62957937203007
1046
+ ],
1047
+ "extent": [
1048
+ 5.475914132887809,
1049
+ 6.693747729026345,
1050
+ 6.36363703443817
1051
+ ]
1052
+ },
1053
+ "obb": {
1054
+ "center": [
1055
+ 121.96586040880331,
1056
+ 21.62493519342352,
1057
+ 193.62957937203007
1058
+ ],
1059
+ "extent": [
1060
+ 5.475914132887809,
1061
+ 6.693747729026345,
1062
+ 6.36363703443817
1063
+ ],
1064
+ "rotation": [
1065
+ 8.034876264047209e-13,
1066
+ 118.44794578127137,
1067
+ -3.676471794484711
1068
+ ]
1069
+ },
1070
+ "location": [
1071
+ 124.20275258589528,
1072
+ 22.83683848060578,
1073
+ 192.91728461988254
1074
+ ],
1075
+ "rotation": [
1076
+ 8.034876264047209e-13,
1077
+ 118.44794578127137,
1078
+ -3.676471794484711
1079
+ ],
1080
+ "scale": [
1081
+ 1,
1082
+ 1,
1083
+ 1
1084
+ ]
1085
+ },
1086
+ "color": [
1087
+ 63,
1088
+ 191,
1089
+ 0
1090
+ ]
1091
+ }
1092
+ ],
1093
+ "switch": [
1094
+ {
1095
+ "object_id": "SM_AI_vol12_02_switch_1_1",
1096
+ "bbox_2d": [
1097
+ 76,
1098
+ 951,
1099
+ 98,
1100
+ 983
1101
+ ],
1102
+ "bbox_3d": {
1103
+ "aabb": {
1104
+ "center": [
1105
+ 157.03391920591054,
1106
+ -38.64782541918305,
1107
+ 195.05934441105256
1108
+ ],
1109
+ "extent": [
1110
+ 2.8713895084,
1111
+ 4.110751379633456,
1112
+ 4.2442087809290285
1113
+ ]
1114
+ },
1115
+ "obb": {
1116
+ "center": [
1117
+ 157.03391920591054,
1118
+ -38.64782541918305,
1119
+ 195.05934441105256
1120
+ ],
1121
+ "extent": [
1122
+ 2.8713895084,
1123
+ 4.110751379633456,
1124
+ 4.2442087809290285
1125
+ ],
1126
+ "rotation": [
1127
+ 0.6677387835223151,
1128
+ 118.38370715706026,
1129
+ -3.3241961483847144
1130
+ ]
1131
+ },
1132
+ "location": [
1133
+ 157.67546334078443,
1134
+ -38.300617564077776,
1135
+ 195.01698465740535
1136
+ ],
1137
+ "rotation": [
1138
+ 0.6677387835223151,
1139
+ 118.38370715706026,
1140
+ -3.3241961483847144
1141
+ ],
1142
+ "scale": [
1143
+ 1,
1144
+ 1,
1145
+ 1
1146
+ ]
1147
+ },
1148
+ "color": [
1149
+ 63,
1150
+ 191,
1151
+ 255
1152
+ ]
1153
+ }
1154
+ ],
1155
+ "image": [
1156
+ {
1157
+ "object_id": "SM_AI_vol12_02_Image_6_1",
1158
+ "bbox_2d": [
1159
+ 1753,
1160
+ 800,
1161
+ 1919,
1162
+ 1008
1163
+ ],
1164
+ "bbox_3d": {
1165
+ "aabb": {
1166
+ "center": [
1167
+ -539.4445398360865,
1168
+ -327.5182160917665,
1169
+ 179.66616442898865
1170
+ ],
1171
+ "extent": [
1172
+ 26.412077427546933,
1173
+ 43.381530199136535,
1174
+ 42.884158230724694
1175
+ ]
1176
+ },
1177
+ "obb": {
1178
+ "center": [
1179
+ -539.4445398360865,
1180
+ -327.5182160917665,
1181
+ 179.66616442898865
1182
+ ],
1183
+ "extent": [
1184
+ 26.412077427546933,
1185
+ 43.381530199136535,
1186
+ 42.884158230724694
1187
+ ],
1188
+ "rotation": [
1189
+ -5.645484559597742e-14,
1190
+ -117.78332075815584,
1191
+ -3.384932235824407
1192
+ ]
1193
+ },
1194
+ "location": [
1195
+ -537.8068422836224,
1196
+ -328.38105704305684,
1197
+ 179.77565114199106
1198
+ ],
1199
+ "rotation": [
1200
+ -5.645484559597742e-14,
1201
+ -117.78332075815584,
1202
+ -3.384932235824407
1203
+ ],
1204
+ "scale": [
1205
+ 0.5702713131904602,
1206
+ 0.5702713131904602,
1207
+ 0.5702713131904602
1208
+ ]
1209
+ },
1210
+ "color": [
1211
+ 191,
1212
+ 191,
1213
+ 63
1214
+ ]
1215
+ }
1216
+ ]
1217
+ }
1218
+ }
scenes/annotations/AIUE5_vol12_02/l014_off2_r005/scene_annotations_split.json ADDED
@@ -0,0 +1,912 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l014_off2_r005",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l014_off2_r005/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -89,
8
+ -395,
9
+ 351
10
+ ],
11
+ "rotation": [
12
+ 0,
13
+ -59.999999999999986,
14
+ 0
15
+ ],
16
+ "fov": 90,
17
+ "c2w": [
18
+ [
19
+ 0.5000000000000002,
20
+ -0.8660254037844384,
21
+ 0,
22
+ 0
23
+ ],
24
+ [
25
+ 0.8660254037844384,
26
+ 0.5000000000000002,
27
+ 0,
28
+ 0
29
+ ],
30
+ [
31
+ 0,
32
+ 0,
33
+ 1,
34
+ 0
35
+ ],
36
+ [
37
+ -89,
38
+ -395,
39
+ 351,
40
+ 1
41
+ ]
42
+ ],
43
+ "width": 1920,
44
+ "height": 1080,
45
+ "fxfycxcy": [
46
+ 960.0000000000001,
47
+ 960.0000000000002,
48
+ 960.0,
49
+ 540.0
50
+ ]
51
+ },
52
+ "background": {
53
+ "floor": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
56
+ "bbox_2d": [
57
+ 0,
58
+ 261,
59
+ 1919,
60
+ 519
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -109.43883007812497,
66
+ -305.40692504882804,
67
+ 381.5008540039062
68
+ ],
69
+ "extent": [
70
+ 632.2734375,
71
+ 649.2933349609375,
72
+ 17.98785400390625
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -109.43883007812497,
78
+ -305.40692504882804,
79
+ 381.5008540039062
80
+ ],
81
+ "extent": [
82
+ 632.2734375,
83
+ 649.2933349609375,
84
+ 17.98785400390625
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -107.713,
94
+ -305.84,
95
+ 363.513
96
+ ],
97
+ "rotation": [
98
+ 0,
99
+ 0,
100
+ 0
101
+ ],
102
+ "scale": [
103
+ 1,
104
+ 1,
105
+ 1
106
+ ]
107
+ },
108
+ "color": [
109
+ 255,
110
+ 255,
111
+ 127
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Floor_4_1",
116
+ "bbox_2d": [
117
+ 960,
118
+ 975,
119
+ 1488,
120
+ 1079
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ -85.68488818359378,
126
+ -331.4413950195312,
127
+ 30.228998092651366
128
+ ],
129
+ "extent": [
130
+ 589.0018920898438,
131
+ 598.1265258789062,
132
+ 0.4999980926513672
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ -85.68488818359378,
138
+ -331.4413950195312,
139
+ 30.228998092651366
140
+ ],
141
+ "extent": [
142
+ 589.0018920898438,
143
+ 598.1265258789062,
144
+ 0.4999980926513672
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ -99.5995,
154
+ -307.299,
155
+ 29.729
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 0,
170
+ 127,
171
+ 63
172
+ ]
173
+ },
174
+ {
175
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
176
+ "bbox_2d": [
177
+ 0,
178
+ 4,
179
+ 1800,
180
+ 426
181
+ ],
182
+ "bbox_3d": {
183
+ "aabb": {
184
+ "center": [
185
+ 15.152699999999982,
186
+ -467.03198474121086,
187
+ 399.3307082519531
188
+ ],
189
+ "extent": [
190
+ 390.8625183105469,
191
+ 373.12469482421875,
192
+ 0.169708251953125
193
+ ]
194
+ },
195
+ "obb": {
196
+ "center": [
197
+ 15.152699999999982,
198
+ -467.03198474121086,
199
+ 399.3307082519531
200
+ ],
201
+ "extent": [
202
+ 390.8625183105469,
203
+ 373.12469482421875,
204
+ 0.169708251953125
205
+ ],
206
+ "rotation": [
207
+ 0,
208
+ 0,
209
+ 0
210
+ ]
211
+ },
212
+ "location": [
213
+ 15.1527,
214
+ -467.032,
215
+ 399.161
216
+ ],
217
+ "rotation": [
218
+ 0,
219
+ 0,
220
+ 0
221
+ ],
222
+ "scale": [
223
+ 1,
224
+ 1,
225
+ 1
226
+ ]
227
+ },
228
+ "color": [
229
+ 0,
230
+ 63,
231
+ 0
232
+ ]
233
+ }
234
+ ],
235
+ "wall": [
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Wall_4_1",
238
+ "bbox_2d": [
239
+ 1289,
240
+ 511,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 489.6886770629883,
248
+ -663.5999932861328,
249
+ 214.63871374511717
250
+ ],
251
+ "extent": [
252
+ 52.443214416503906,
253
+ 285.02001953125,
254
+ 184.9097137451172
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 489.6886770629883,
260
+ -663.5999932861328,
261
+ 214.63871374511717
262
+ ],
263
+ "extent": [
264
+ 52.443214416503906,
265
+ 285.02001953125,
266
+ 184.9097137451172
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 490.49,
276
+ -664.06,
277
+ 29.729
278
+ ],
279
+ "rotation": [
280
+ 0,
281
+ 0,
282
+ 0
283
+ ],
284
+ "scale": [
285
+ 1,
286
+ 1,
287
+ 1
288
+ ]
289
+ },
290
+ "color": [
291
+ 255,
292
+ 127,
293
+ 255
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_5_1",
298
+ "bbox_2d": [
299
+ 448,
300
+ 514,
301
+ 1238,
302
+ 1079
303
+ ],
304
+ "bbox_3d": {
305
+ "aabb": {
306
+ "center": [
307
+ 222.24028076171874,
308
+ -925.8515427093506,
309
+ 214.49045935058592
310
+ ],
311
+ "extent": [
312
+ 300.5262451171875,
313
+ 54.29796600341797,
314
+ 184.76145935058594
315
+ ]
316
+ },
317
+ "obb": {
318
+ "center": [
319
+ 222.24028076171874,
320
+ -925.8515427093506,
321
+ 214.49045935058592
322
+ ],
323
+ "extent": [
324
+ 300.5262451171875,
325
+ 54.29796600341797,
326
+ 184.76145935058594
327
+ ],
328
+ "rotation": [
329
+ 0,
330
+ 0,
331
+ 0
332
+ ]
333
+ },
334
+ "location": [
335
+ 223.265,
336
+ -926.773,
337
+ 29.729
338
+ ],
339
+ "rotation": [
340
+ 0,
341
+ 0,
342
+ 0
343
+ ],
344
+ "scale": [
345
+ 1,
346
+ 1,
347
+ 1
348
+ ]
349
+ },
350
+ "color": [
351
+ 0,
352
+ 127,
353
+ 127
354
+ ]
355
+ },
356
+ {
357
+ "object_id": "SM_AI_vol12_02_Wall_6_1",
358
+ "bbox_2d": [
359
+ 0,
360
+ 508,
361
+ 439,
362
+ 1079
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ -409.973015258789,
368
+ -793.6599847412109,
369
+ 210.4554709472656
370
+ ],
371
+ "extent": [
372
+ 337.53466796875,
373
+ 141.4675750732422,
374
+ 180.72647094726562
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ -409.973015258789,
380
+ -793.6599847412109,
381
+ 210.4554709472656
382
+ ],
383
+ "extent": [
384
+ 337.53466796875,
385
+ 141.4675750732422,
386
+ 180.72647094726562
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ -409.973,
396
+ -793.66,
397
+ 29.729
398
+ ],
399
+ "rotation": [
400
+ 0,
401
+ 0,
402
+ 0
403
+ ],
404
+ "scale": [
405
+ 1,
406
+ 1,
407
+ 1
408
+ ]
409
+ },
410
+ "color": [
411
+ 255,
412
+ 127,
413
+ 127
414
+ ]
415
+ }
416
+ ],
417
+ "ceiling construction": [
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
420
+ "bbox_2d": [
421
+ 0,
422
+ 0,
423
+ 1919,
424
+ 1027
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ 14.060200000000009,
430
+ -466.8179847412109,
431
+ 344.82342364501955
432
+ ],
433
+ "extent": [
434
+ 392.0332946777344,
435
+ 374.09112548828125,
436
+ 53.95142364501953
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ 14.060200000000009,
442
+ -466.8179847412109,
443
+ 344.82342364501955
444
+ ],
445
+ "extent": [
446
+ 392.0332946777344,
447
+ 374.09112548828125,
448
+ 53.95142364501953
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ 14.0602,
458
+ -466.818,
459
+ 290.872
460
+ ],
461
+ "rotation": [
462
+ 0,
463
+ 0,
464
+ 0
465
+ ],
466
+ "scale": [
467
+ 1,
468
+ 1,
469
+ 1
470
+ ]
471
+ },
472
+ "color": [
473
+ 255,
474
+ 0,
475
+ 63
476
+ ]
477
+ }
478
+ ],
479
+ "floor glass": [
480
+ {
481
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
482
+ "bbox_2d": [
483
+ 1736,
484
+ 0,
485
+ 1764,
486
+ 14
487
+ ],
488
+ "bbox_3d": {
489
+ "aabb": {
490
+ "center": [
491
+ 12.276647143554683,
492
+ -409.4788231201171,
493
+ 399.4571883544922
494
+ ],
495
+ "extent": [
496
+ 250.27244567871094,
497
+ 216.33436584472653,
498
+ 0.0432586669921875
499
+ ]
500
+ },
501
+ "obb": {
502
+ "center": [
503
+ 12.276647143554698,
504
+ -409.4788231201171,
505
+ 399.4571883544922
506
+ ],
507
+ "extent": [
508
+ 250.27244567871094,
509
+ 216.33436584472653,
510
+ 0.0432586669921875
511
+ ],
512
+ "rotation": [
513
+ 0,
514
+ 0,
515
+ 0
516
+ ]
517
+ },
518
+ "location": [
519
+ 15.1527,
520
+ -467.032,
521
+ 399.161
522
+ ],
523
+ "rotation": [
524
+ 0,
525
+ 0,
526
+ 0
527
+ ],
528
+ "scale": [
529
+ 1,
530
+ 1,
531
+ 1
532
+ ]
533
+ },
534
+ "color": [
535
+ 127,
536
+ 0,
537
+ 63
538
+ ]
539
+ }
540
+ ],
541
+ "window": [
542
+ {
543
+ "object_id": "SM_AI_vol12_02_Window_4_1",
544
+ "bbox_2d": [
545
+ 1198,
546
+ 809,
547
+ 1384,
548
+ 1006
549
+ ],
550
+ "bbox_3d": {
551
+ "aabb": {
552
+ "center": [
553
+ 478.3979389648438,
554
+ -899.502,
555
+ 351.0958979003906
556
+ ],
557
+ "extent": [
558
+ 66.072265625,
559
+ 81.93475341796875,
560
+ 319.7940979003906
561
+ ]
562
+ },
563
+ "obb": {
564
+ "center": [
565
+ 478.3979389648438,
566
+ -899.502,
567
+ 351.09589790039064
568
+ ],
569
+ "extent": [
570
+ 66.072265625,
571
+ 81.93475341796875,
572
+ 319.7940979003906
573
+ ],
574
+ "rotation": [
575
+ 0,
576
+ 0,
577
+ 0
578
+ ]
579
+ },
580
+ "location": [
581
+ 478.398,
582
+ -899.502,
583
+ 31.3018
584
+ ],
585
+ "rotation": [
586
+ 0,
587
+ 0,
588
+ 0
589
+ ],
590
+ "scale": [
591
+ 1,
592
+ 1,
593
+ 1
594
+ ]
595
+ },
596
+ "color": [
597
+ 255,
598
+ 63,
599
+ 255
600
+ ]
601
+ },
602
+ {
603
+ "object_id": "SM_AI_vol12_02_Window_5_1",
604
+ "bbox_2d": [
605
+ 441,
606
+ 513,
607
+ 546,
608
+ 1079
609
+ ],
610
+ "bbox_3d": {
611
+ "aabb": {
612
+ "center": [
613
+ -64.85708775634765,
614
+ -895.8563601074219,
615
+ 203.14495458984373
616
+ ],
617
+ "extent": [
618
+ 43.711151123046875,
619
+ 31.792999267578125,
620
+ 172.34878540039062
621
+ ]
622
+ },
623
+ "obb": {
624
+ "center": [
625
+ -64.85708775634765,
626
+ -895.8563601074219,
627
+ 203.14495458984373
628
+ ],
629
+ "extent": [
630
+ 43.711151123046875,
631
+ 31.792999267578125,
632
+ 172.34878540039062
633
+ ],
634
+ "rotation": [
635
+ 0,
636
+ 0,
637
+ 0
638
+ ]
639
+ },
640
+ "location": [
641
+ -65.3612,
642
+ -893.331,
643
+ 29.729
644
+ ],
645
+ "rotation": [
646
+ 0,
647
+ 0,
648
+ 0
649
+ ],
650
+ "scale": [
651
+ 1,
652
+ 1,
653
+ 1
654
+ ]
655
+ },
656
+ "color": [
657
+ 255,
658
+ 63,
659
+ 127
660
+ ]
661
+ }
662
+ ],
663
+ "window glass": [
664
+ {
665
+ "object_id": "SM_AI_vol12_02_Window_glass_4_1",
666
+ "bbox_2d": [
667
+ 1199,
668
+ 530,
669
+ 1382,
670
+ 1001
671
+ ],
672
+ "bbox_3d": {
673
+ "aabb": {
674
+ "center": [
675
+ 478.668,
676
+ -899.8300305175782,
677
+ 351.19856162109375
678
+ ],
679
+ "extent": [
680
+ 63.623291015625,
681
+ 79.35452270507812,
682
+ 318.74066162109375
683
+ ]
684
+ },
685
+ "obb": {
686
+ "center": [
687
+ 478.668,
688
+ -899.8300305175782,
689
+ 351.19856162109375
690
+ ],
691
+ "extent": [
692
+ 63.623291015625,
693
+ 79.35452270507812,
694
+ 318.74066162109375
695
+ ],
696
+ "rotation": [
697
+ 0,
698
+ 0,
699
+ 0
700
+ ]
701
+ },
702
+ "location": [
703
+ 478.668,
704
+ -899.83,
705
+ 32.4579
706
+ ],
707
+ "rotation": [
708
+ 0,
709
+ 0,
710
+ 0
711
+ ],
712
+ "scale": [
713
+ 1,
714
+ 1,
715
+ 1
716
+ ]
717
+ },
718
+ "color": [
719
+ 127,
720
+ 63,
721
+ 63
722
+ ]
723
+ },
724
+ {
725
+ "object_id": "SM_AI_vol12_02_Window_glass_5_1",
726
+ "bbox_2d": [
727
+ 388,
728
+ 513,
729
+ 540,
730
+ 1079
731
+ ],
732
+ "bbox_3d": {
733
+ "aabb": {
734
+ "center": [
735
+ -64.51585088766417,
736
+ -895.8478194094979,
737
+ 202.9212912597656
738
+ ],
739
+ "extent": [
740
+ 42.015435022473454,
741
+ 28.88885540970648,
742
+ 170.85858154296875
743
+ ]
744
+ },
745
+ "obb": {
746
+ "center": [
747
+ -64.51585088766417,
748
+ -895.8478194094979,
749
+ 202.9212912597656
750
+ ],
751
+ "extent": [
752
+ 42.015435022473454,
753
+ 28.88885540970648,
754
+ 170.85858154296875
755
+ ],
756
+ "rotation": [
757
+ 0,
758
+ 0.5048283882766836,
759
+ 0
760
+ ]
761
+ },
762
+ "location": [
763
+ -65.3612,
764
+ -893.331,
765
+ 29.729
766
+ ],
767
+ "rotation": [
768
+ 0,
769
+ 0.5048283882766836,
770
+ 0
771
+ ],
772
+ "scale": [
773
+ 1,
774
+ 1,
775
+ 1
776
+ ]
777
+ },
778
+ "color": [
779
+ 63,
780
+ 0,
781
+ 0
782
+ ]
783
+ }
784
+ ]
785
+ },
786
+ "foreground": {
787
+ "lamp bar": [
788
+ {
789
+ "object_id": "SM_AI_vol12_02_lamp_bar_1_1",
790
+ "bbox_2d": [
791
+ 937,
792
+ 513,
793
+ 1583,
794
+ 530
795
+ ],
796
+ "bbox_3d": {
797
+ "aabb": {
798
+ "center": [
799
+ 261.9864920049519,
800
+ -733.4944903410535,
801
+ 359.51021751078605
802
+ ],
803
+ "extent": [
804
+ 111.1802194954998,
805
+ 105.73403938019135,
806
+ 3.693960189819336
807
+ ]
808
+ },
809
+ "obb": {
810
+ "center": [
811
+ 261.9864920049519,
812
+ -733.4944903410535,
813
+ 359.51021751078605
814
+ ],
815
+ "extent": [
816
+ 111.1802194954998,
817
+ 105.73403938019135,
818
+ 3.693960189819336
819
+ ],
820
+ "rotation": [
821
+ 0,
822
+ 43.494370880237476,
823
+ 0
824
+ ]
825
+ },
826
+ "location": [
827
+ 261.9865022611724,
828
+ -733.4945011509816,
829
+ 359.5102262130642
830
+ ],
831
+ "rotation": [
832
+ 0,
833
+ 43.494370880237476,
834
+ 0
835
+ ],
836
+ "scale": [
837
+ 1,
838
+ 1,
839
+ 1
840
+ ]
841
+ },
842
+ "color": [
843
+ 63,
844
+ 127,
845
+ 255
846
+ ]
847
+ }
848
+ ],
849
+ "image": [
850
+ {
851
+ "object_id": "SM_AI_vol12_02_Image_2_1",
852
+ "bbox_2d": [
853
+ 1436,
854
+ 612,
855
+ 1648,
856
+ 1017
857
+ ],
858
+ "bbox_3d": {
859
+ "aabb": {
860
+ "center": [
861
+ 480.1074552107502,
862
+ -710.7103032711976,
863
+ 203.10076157872354
864
+ ],
865
+ "extent": [
866
+ 15.053262423838305,
867
+ 59.227398004959355,
868
+ 102.01848834499557
869
+ ]
870
+ },
871
+ "obb": {
872
+ "center": [
873
+ 480.1074552107502,
874
+ -710.7103032711976,
875
+ 203.1007615787235
876
+ ],
877
+ "extent": [
878
+ 15.053262423838305,
879
+ 59.227398004959355,
880
+ 102.01848834499557
881
+ ],
882
+ "rotation": [
883
+ -86.55720608505361,
884
+ -177.76417400291834,
885
+ -87.73621572630412
886
+ ]
887
+ },
888
+ "location": [
889
+ 477.4269742413204,
890
+ -710.9214358198283,
891
+ 203.2623934533154
892
+ ],
893
+ "rotation": [
894
+ -86.55720608505361,
895
+ -177.76417400291834,
896
+ -87.73621572630412
897
+ ],
898
+ "scale": [
899
+ 0.8283938765525818,
900
+ 0.8283938765525818,
901
+ 0.8283938765525818
902
+ ]
903
+ },
904
+ "color": [
905
+ 191,
906
+ 127,
907
+ 63
908
+ ]
909
+ }
910
+ ]
911
+ }
912
+ }
scenes/annotations/AIUE5_vol12_02/l018_off1_r000/scene_annotations_split.json ADDED
@@ -0,0 +1,1464 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l018_off1_r000",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l018_off1_r000/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -117,
8
+ -106,
9
+ 321
10
+ ],
11
+ "rotation": [
12
+ 0,
13
+ 0,
14
+ 0
15
+ ],
16
+ "fov": 90,
17
+ "c2w": [
18
+ [
19
+ 1,
20
+ 0,
21
+ 0,
22
+ 0
23
+ ],
24
+ [
25
+ 0,
26
+ 1,
27
+ 0,
28
+ 0
29
+ ],
30
+ [
31
+ 0,
32
+ 0,
33
+ 1,
34
+ 0
35
+ ],
36
+ [
37
+ -117,
38
+ -106,
39
+ 321,
40
+ 1
41
+ ]
42
+ ],
43
+ "width": 1920,
44
+ "height": 1080,
45
+ "fxfycxcy": [
46
+ 960.0000000000001,
47
+ 960.0000000000002,
48
+ 960.0,
49
+ 540.0
50
+ ]
51
+ },
52
+ "background": {
53
+ "floor": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1919,
60
+ 475
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -109.43883007812497,
66
+ -305.40692504882804,
67
+ 381.5008540039062
68
+ ],
69
+ "extent": [
70
+ 632.2734375,
71
+ 649.2933349609375,
72
+ 17.98785400390625
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -109.43883007812497,
78
+ -305.40692504882804,
79
+ 381.5008540039062
80
+ ],
81
+ "extent": [
82
+ 632.2734375,
83
+ 649.2933349609375,
84
+ 17.98785400390625
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -107.713,
94
+ -305.84,
95
+ 363.513
96
+ ],
97
+ "rotation": [
98
+ 0,
99
+ 0,
100
+ 0
101
+ ],
102
+ "scale": [
103
+ 1,
104
+ 1,
105
+ 1
106
+ ]
107
+ },
108
+ "color": [
109
+ 255,
110
+ 255,
111
+ 127
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Floor_4_1",
116
+ "bbox_2d": [
117
+ 0,
118
+ 998,
119
+ 969,
120
+ 1079
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ -85.68488818359378,
126
+ -331.4413950195312,
127
+ 30.228998092651366
128
+ ],
129
+ "extent": [
130
+ 589.0018920898438,
131
+ 598.1265258789062,
132
+ 0.4999980926513672
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ -85.68488818359378,
138
+ -331.4413950195312,
139
+ 30.228998092651366
140
+ ],
141
+ "extent": [
142
+ 589.0018920898438,
143
+ 598.1265258789062,
144
+ 0.4999980926513672
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ -99.5995,
154
+ -307.299,
155
+ 29.729
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 0,
170
+ 127,
171
+ 63
172
+ ]
173
+ },
174
+ {
175
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
176
+ "bbox_2d": [
177
+ 0,
178
+ 0,
179
+ 864,
180
+ 322
181
+ ],
182
+ "bbox_3d": {
183
+ "aabb": {
184
+ "center": [
185
+ 15.152699999999982,
186
+ -467.03198474121086,
187
+ 399.3307082519531
188
+ ],
189
+ "extent": [
190
+ 390.8625183105469,
191
+ 373.12469482421875,
192
+ 0.169708251953125
193
+ ]
194
+ },
195
+ "obb": {
196
+ "center": [
197
+ 15.152699999999982,
198
+ -467.03198474121086,
199
+ 399.3307082519531
200
+ ],
201
+ "extent": [
202
+ 390.8625183105469,
203
+ 373.12469482421875,
204
+ 0.169708251953125
205
+ ],
206
+ "rotation": [
207
+ 0,
208
+ 0,
209
+ 0
210
+ ]
211
+ },
212
+ "location": [
213
+ 15.1527,
214
+ -467.032,
215
+ 399.161
216
+ ],
217
+ "rotation": [
218
+ 0,
219
+ 0,
220
+ 0
221
+ ],
222
+ "scale": [
223
+ 1,
224
+ 1,
225
+ 1
226
+ ]
227
+ },
228
+ "color": [
229
+ 0,
230
+ 63,
231
+ 0
232
+ ]
233
+ }
234
+ ],
235
+ "wall": [
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Wall_1_1",
238
+ "bbox_2d": [
239
+ 1062,
240
+ 348,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 93.24939999999998,
248
+ 133.91399237060546,
249
+ 210.14428320312498
250
+ ],
251
+ "extent": [
252
+ 111.80139923095703,
253
+ 209.30471801757812,
254
+ 180.415283203125
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 93.2494,
260
+ 133.91399237060546,
261
+ 210.14428320312498
262
+ ],
263
+ "extent": [
264
+ 111.80139923095703,
265
+ 209.30471801757812,
266
+ 180.415283203125
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 93.2494,
276
+ 133.914,
277
+ 29.729
278
+ ],
279
+ "rotation": [
280
+ 0,
281
+ 0,
282
+ 0
283
+ ],
284
+ "scale": [
285
+ 1,
286
+ 1,
287
+ 1
288
+ ]
289
+ },
290
+ "color": [
291
+ 0,
292
+ 127,
293
+ 0
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_2_1",
298
+ "bbox_2d": [
299
+ 969,
300
+ 432,
301
+ 1054,
302
+ 1079
303
+ ],
304
+ "bbox_3d": {
305
+ "aabb": {
306
+ "center": [
307
+ 356.714015258789,
308
+ -77.27309713897705,
309
+ 210.14428320312498
310
+ ],
311
+ "extent": [
312
+ 164.57118225097653,
313
+ 23.48920440673828,
314
+ 180.415283203125
315
+ ]
316
+ },
317
+ "obb": {
318
+ "center": [
319
+ 356.714015258789,
320
+ -77.27309713897705,
321
+ 210.14428320312498
322
+ ],
323
+ "extent": [
324
+ 164.57118225097653,
325
+ 23.48920440673828,
326
+ 180.415283203125
327
+ ],
328
+ "rotation": [
329
+ 0,
330
+ 0,
331
+ 0
332
+ ]
333
+ },
334
+ "location": [
335
+ 356.714,
336
+ -77.2731,
337
+ 29.729
338
+ ],
339
+ "rotation": [
340
+ 0,
341
+ 0,
342
+ 0
343
+ ],
344
+ "scale": [
345
+ 1,
346
+ 1,
347
+ 1
348
+ ]
349
+ },
350
+ "color": [
351
+ 0,
352
+ 127,
353
+ 255
354
+ ]
355
+ },
356
+ {
357
+ "object_id": "SM_AI_vol12_02_Wall_3_1",
358
+ "bbox_2d": [
359
+ 488,
360
+ 471,
361
+ 984,
362
+ 1042
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ 492.289,
368
+ -232.0970076293945,
369
+ 210.30126562499998
370
+ ],
371
+ "extent": [
372
+ 55.04327392578125,
373
+ 149.878173828125,
374
+ 180.572265625
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ 492.289,
380
+ -232.0970076293945,
381
+ 210.30126562499998
382
+ ],
383
+ "extent": [
384
+ 55.04327392578125,
385
+ 149.878173828125,
386
+ 180.572265625
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ 492.289,
396
+ -232.097,
397
+ 29.729
398
+ ],
399
+ "rotation": [
400
+ 0,
401
+ 0,
402
+ 0
403
+ ],
404
+ "scale": [
405
+ 1,
406
+ 1,
407
+ 1
408
+ ]
409
+ },
410
+ "color": [
411
+ 255,
412
+ 127,
413
+ 0
414
+ ]
415
+ },
416
+ {
417
+ "object_id": "SM_AI_vol12_02_Wall_4_1",
418
+ "bbox_2d": [
419
+ 0,
420
+ 470,
421
+ 507,
422
+ 1042
423
+ ],
424
+ "bbox_3d": {
425
+ "aabb": {
426
+ "center": [
427
+ 489.6886770629883,
428
+ -663.5999932861328,
429
+ 214.63871374511717
430
+ ],
431
+ "extent": [
432
+ 52.443214416503906,
433
+ 285.02001953125,
434
+ 184.9097137451172
435
+ ]
436
+ },
437
+ "obb": {
438
+ "center": [
439
+ 489.6886770629883,
440
+ -663.5999932861328,
441
+ 214.63871374511717
442
+ ],
443
+ "extent": [
444
+ 52.443214416503906,
445
+ 285.02001953125,
446
+ 184.9097137451172
447
+ ],
448
+ "rotation": [
449
+ 0,
450
+ 0,
451
+ 0
452
+ ]
453
+ },
454
+ "location": [
455
+ 490.49,
456
+ -664.06,
457
+ 29.729
458
+ ],
459
+ "rotation": [
460
+ 0,
461
+ 0,
462
+ 0
463
+ ],
464
+ "scale": [
465
+ 1,
466
+ 1,
467
+ 1
468
+ ]
469
+ },
470
+ "color": [
471
+ 255,
472
+ 127,
473
+ 255
474
+ ]
475
+ },
476
+ {
477
+ "object_id": "SM_AI_vol12_02_Wall_9_1",
478
+ "bbox_2d": [
479
+ 1239,
480
+ 0,
481
+ 1919,
482
+ 184
483
+ ],
484
+ "bbox_3d": {
485
+ "aabb": {
486
+ "center": [
487
+ 86.66842916432347,
488
+ 150.61900000000003,
489
+ 585.7907065429688
490
+ ],
491
+ "extent": [
492
+ 118.70797729492188,
493
+ 225.9097137451172,
494
+ 196.06170654296875
495
+ ]
496
+ },
497
+ "obb": {
498
+ "center": [
499
+ 86.66842916432346,
500
+ 150.619,
501
+ 585.7907065429688
502
+ ],
503
+ "extent": [
504
+ 118.70797729492188,
505
+ 225.9097137451172,
506
+ 196.06170654296875
507
+ ],
508
+ "rotation": [
509
+ 0,
510
+ 0,
511
+ 0
512
+ ]
513
+ },
514
+ "location": [
515
+ 86.66842916432346,
516
+ 150.619,
517
+ 389.729
518
+ ],
519
+ "rotation": [
520
+ 0,
521
+ 0,
522
+ 0
523
+ ],
524
+ "scale": [
525
+ 1,
526
+ 1,
527
+ 1
528
+ ]
529
+ },
530
+ "color": [
531
+ 127,
532
+ 255,
533
+ 0
534
+ ]
535
+ }
536
+ ],
537
+ "ceiling construction": [
538
+ {
539
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
540
+ "bbox_2d": [
541
+ 0,
542
+ 0,
543
+ 962,
544
+ 533
545
+ ],
546
+ "bbox_3d": {
547
+ "aabb": {
548
+ "center": [
549
+ 14.060200000000009,
550
+ -466.8179847412109,
551
+ 344.82342364501955
552
+ ],
553
+ "extent": [
554
+ 392.0332946777344,
555
+ 374.09112548828125,
556
+ 53.95142364501953
557
+ ]
558
+ },
559
+ "obb": {
560
+ "center": [
561
+ 14.060200000000009,
562
+ -466.8179847412109,
563
+ 344.82342364501955
564
+ ],
565
+ "extent": [
566
+ 392.0332946777344,
567
+ 374.09112548828125,
568
+ 53.95142364501953
569
+ ],
570
+ "rotation": [
571
+ 0,
572
+ 0,
573
+ 0
574
+ ]
575
+ },
576
+ "location": [
577
+ 14.0602,
578
+ -466.818,
579
+ 290.872
580
+ ],
581
+ "rotation": [
582
+ 0,
583
+ 0,
584
+ 0
585
+ ],
586
+ "scale": [
587
+ 1,
588
+ 1,
589
+ 1
590
+ ]
591
+ },
592
+ "color": [
593
+ 255,
594
+ 0,
595
+ 63
596
+ ]
597
+ }
598
+ ],
599
+ "floor glass": [
600
+ {
601
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
602
+ "bbox_2d": [
603
+ 90,
604
+ 134,
605
+ 588,
606
+ 210
607
+ ],
608
+ "bbox_3d": {
609
+ "aabb": {
610
+ "center": [
611
+ 12.276647143554683,
612
+ -409.4788231201171,
613
+ 399.4571883544922
614
+ ],
615
+ "extent": [
616
+ 250.27244567871094,
617
+ 216.33436584472653,
618
+ 0.0432586669921875
619
+ ]
620
+ },
621
+ "obb": {
622
+ "center": [
623
+ 12.276647143554698,
624
+ -409.4788231201171,
625
+ 399.4571883544922
626
+ ],
627
+ "extent": [
628
+ 250.27244567871094,
629
+ 216.33436584472653,
630
+ 0.0432586669921875
631
+ ],
632
+ "rotation": [
633
+ 0,
634
+ 0,
635
+ 0
636
+ ]
637
+ },
638
+ "location": [
639
+ 15.1527,
640
+ -467.032,
641
+ 399.161
642
+ ],
643
+ "rotation": [
644
+ 0,
645
+ 0,
646
+ 0
647
+ ],
648
+ "scale": [
649
+ 1,
650
+ 1,
651
+ 1
652
+ ]
653
+ },
654
+ "color": [
655
+ 127,
656
+ 0,
657
+ 63
658
+ ]
659
+ }
660
+ ],
661
+ "stairs": [
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Stairs_1_1",
664
+ "bbox_2d": [
665
+ 1651,
666
+ 967,
667
+ 1919,
668
+ 1079
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ -80.33650762939453,
674
+ 44.849199999999996,
675
+ 249.99920270996097
676
+ ],
677
+ "extent": [
678
+ 193.55096435546875,
679
+ 152.25680541992188,
680
+ 220.00340270996094
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ -80.33650762939453,
686
+ 44.849199999999996,
687
+ 249.99920270996094
688
+ ],
689
+ "extent": [
690
+ 193.55096435546875,
691
+ 152.25680541992188,
692
+ 220.00340270996094
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ -80.3365,
702
+ 44.8492,
703
+ 29.9958
704
+ ],
705
+ "rotation": [
706
+ 0,
707
+ 0,
708
+ 0
709
+ ],
710
+ "scale": [
711
+ 1,
712
+ 1,
713
+ 1
714
+ ]
715
+ },
716
+ "color": [
717
+ 127,
718
+ 127,
719
+ 63
720
+ ]
721
+ }
722
+ ],
723
+ "window": [
724
+ {
725
+ "object_id": "SM_AI_vol12_02_Window_2_1",
726
+ "bbox_2d": [
727
+ 1004,
728
+ 414,
729
+ 1064,
730
+ 1079
731
+ ],
732
+ "bbox_3d": {
733
+ "aabb": {
734
+ "center": [
735
+ 197.11,
736
+ -70.4276,
737
+ 203.33648068847657
738
+ ],
739
+ "extent": [
740
+ 40.70147705078125,
741
+ 26.7047119140625,
742
+ 171.80458068847656
743
+ ]
744
+ },
745
+ "obb": {
746
+ "center": [
747
+ 197.11,
748
+ -70.4276,
749
+ 203.33648068847657
750
+ ],
751
+ "extent": [
752
+ 40.70147705078125,
753
+ 26.7047119140625,
754
+ 171.80458068847656
755
+ ],
756
+ "rotation": [
757
+ 0,
758
+ 0,
759
+ 0
760
+ ]
761
+ },
762
+ "location": [
763
+ 197.11,
764
+ -70.4276,
765
+ 31.5319
766
+ ],
767
+ "rotation": [
768
+ 0,
769
+ 0,
770
+ 0
771
+ ],
772
+ "scale": [
773
+ 1,
774
+ 1,
775
+ 1
776
+ ]
777
+ },
778
+ "color": [
779
+ 0,
780
+ 63,
781
+ 127
782
+ ]
783
+ },
784
+ {
785
+ "object_id": "SM_AI_vol12_02_Window_3_1",
786
+ "bbox_2d": [
787
+ 902,
788
+ 476,
789
+ 988,
790
+ 1031
791
+ ],
792
+ "bbox_3d": {
793
+ "aabb": {
794
+ "center": [
795
+ 491.6927145996094,
796
+ -100.73671903076172,
797
+ 348.7504233398438
798
+ ],
799
+ "extent": [
800
+ 55.44790649414065,
801
+ 42.235069274902344,
802
+ 317.89764404296875
803
+ ]
804
+ },
805
+ "obb": {
806
+ "center": [
807
+ 491.6927145996094,
808
+ -100.73671903076172,
809
+ 348.75042333984373
810
+ ],
811
+ "extent": [
812
+ 55.44790649414065,
813
+ 42.235069274902344,
814
+ 317.89764404296875
815
+ ],
816
+ "rotation": [
817
+ 0,
818
+ 0,
819
+ 0
820
+ ]
821
+ },
822
+ "location": [
823
+ 490.104,
824
+ -99.9769,
825
+ 29.729
826
+ ],
827
+ "rotation": [
828
+ 0,
829
+ 0,
830
+ 0
831
+ ],
832
+ "scale": [
833
+ 1,
834
+ 1,
835
+ 1
836
+ ]
837
+ },
838
+ "color": [
839
+ 255,
840
+ 63,
841
+ 0
842
+ ]
843
+ }
844
+ ],
845
+ "window glass": [
846
+ {
847
+ "object_id": "SM_AI_vol12_02_Window_glass_2_1",
848
+ "bbox_2d": [
849
+ 1016,
850
+ 461,
851
+ 1106,
852
+ 1079
853
+ ],
854
+ "bbox_3d": {
855
+ "aabb": {
856
+ "center": [
857
+ 197.142,
858
+ -70.4178,
859
+ 203.24713515625
860
+ ],
861
+ "extent": [
862
+ 37.23919677734375,
863
+ 22.606124877929688,
864
+ 169.93603515625
865
+ ]
866
+ },
867
+ "obb": {
868
+ "center": [
869
+ 197.142,
870
+ -70.4178,
871
+ 203.24713515625
872
+ ],
873
+ "extent": [
874
+ 37.23919677734375,
875
+ 22.606124877929688,
876
+ 169.93603515625
877
+ ],
878
+ "rotation": [
879
+ 0,
880
+ 0,
881
+ 0
882
+ ]
883
+ },
884
+ "location": [
885
+ 197.142,
886
+ -70.4178,
887
+ 33.3111
888
+ ],
889
+ "rotation": [
890
+ 0,
891
+ 0,
892
+ 0
893
+ ],
894
+ "scale": [
895
+ 1,
896
+ 1,
897
+ 1
898
+ ]
899
+ },
900
+ "color": [
901
+ 0,
902
+ 63,
903
+ 63
904
+ ]
905
+ },
906
+ {
907
+ "object_id": "SM_AI_vol12_02_Window_glass_3_1",
908
+ "bbox_2d": [
909
+ 905,
910
+ 474,
911
+ 999,
912
+ 1026
913
+ ],
914
+ "bbox_3d": {
915
+ "aabb": {
916
+ "center": [
917
+ 491.49184790039067,
918
+ -101.03965939941406,
919
+ 348.5740317382813
920
+ ],
921
+ "extent": [
922
+ 52.6355895996094,
923
+ 40.09288024902344,
924
+ 316.5819091796875
925
+ ]
926
+ },
927
+ "obb": {
928
+ "center": [
929
+ 491.49184790039067,
930
+ -101.03965939941406,
931
+ 348.57403173828123
932
+ ],
933
+ "extent": [
934
+ 52.6355895996094,
935
+ 40.09288024902344,
936
+ 316.5819091796875
937
+ ],
938
+ "rotation": [
939
+ 0,
940
+ 0,
941
+ 0
942
+ ]
943
+ },
944
+ "location": [
945
+ 490.104,
946
+ -99.9769,
947
+ 29.729
948
+ ],
949
+ "rotation": [
950
+ 0,
951
+ 0,
952
+ 0
953
+ ],
954
+ "scale": [
955
+ 1,
956
+ 1,
957
+ 1
958
+ ]
959
+ },
960
+ "color": [
961
+ 255,
962
+ 63,
963
+ 63
964
+ ]
965
+ }
966
+ ],
967
+ "door": [
968
+ {
969
+ "object_id": "SM_AI_vol12_02_Door_1_1",
970
+ "bbox_2d": [
971
+ 613,
972
+ 683,
973
+ 775,
974
+ 1015
975
+ ],
976
+ "bbox_3d": {
977
+ "aabb": {
978
+ "center": [
979
+ 477.253105779281,
980
+ -269.53437192193536,
981
+ 130.80079641255338
982
+ ],
983
+ "extent": [
984
+ 10.392300681066615,
985
+ 48.26562220733574,
986
+ 101.04579162597656
987
+ ]
988
+ },
989
+ "obb": {
990
+ "center": [
991
+ 477.253105779281,
992
+ -269.53437192193536,
993
+ 130.80079641255338
994
+ ],
995
+ "extent": [
996
+ 10.392300681066615,
997
+ 48.26562220733574,
998
+ 101.04579162597656
999
+ ],
1000
+ "rotation": [
1001
+ 0,
1002
+ 80,
1003
+ 0
1004
+ ]
1005
+ },
1006
+ "location": [
1007
+ 477.2527718969296,
1008
+ -269.5700000206572,
1009
+ 30.72760000142058
1010
+ ],
1011
+ "rotation": [
1012
+ 0,
1013
+ 80,
1014
+ 0
1015
+ ],
1016
+ "scale": [
1017
+ 1,
1018
+ 1,
1019
+ 1
1020
+ ]
1021
+ },
1022
+ "color": [
1023
+ 63,
1024
+ 255,
1025
+ 0
1026
+ ]
1027
+ }
1028
+ ],
1029
+ "outdoor platform": [
1030
+ {
1031
+ "object_id": "SM_AI_vol12_02_Outdoor_platform_7_1",
1032
+ "bbox_2d": [
1033
+ 774,
1034
+ 794,
1035
+ 774,
1036
+ 998
1037
+ ],
1038
+ "bbox_3d": {
1039
+ "aabb": {
1040
+ "center": [
1041
+ 803.5920000000001,
1042
+ 15.523399999999981,
1043
+ 17.844390869140625
1044
+ ],
1045
+ "extent": [
1046
+ 341.46923828125006,
1047
+ 418.9031982421875,
1048
+ 16.844390869140625
1049
+ ]
1050
+ },
1051
+ "obb": {
1052
+ "center": [
1053
+ 803.5920000000001,
1054
+ 15.523399999999981,
1055
+ 17.844390869140625
1056
+ ],
1057
+ "extent": [
1058
+ 341.46923828125006,
1059
+ 418.9031982421875,
1060
+ 16.844390869140625
1061
+ ],
1062
+ "rotation": [
1063
+ 0,
1064
+ 0,
1065
+ 0
1066
+ ]
1067
+ },
1068
+ "location": [
1069
+ 803.592,
1070
+ 15.5234,
1071
+ 1
1072
+ ],
1073
+ "rotation": [
1074
+ 0,
1075
+ 0,
1076
+ 0
1077
+ ],
1078
+ "scale": [
1079
+ 1,
1080
+ 1,
1081
+ 1
1082
+ ]
1083
+ },
1084
+ "color": [
1085
+ 63,
1086
+ 31,
1087
+ 255
1088
+ ]
1089
+ }
1090
+ ],
1091
+ "outdoor wall": [
1092
+ {
1093
+ "object_id": "SM_AI_vol12_02_Outdoor_wall_8_1",
1094
+ "bbox_2d": [
1095
+ 627,
1096
+ 685,
1097
+ 697,
1098
+ 687
1099
+ ],
1100
+ "bbox_3d": {
1101
+ "aabb": {
1102
+ "center": [
1103
+ 1029.6099847412108,
1104
+ -958.252,
1105
+ 150.88400488281252
1106
+ ],
1107
+ "extent": [
1108
+ 63.63038635253906,
1109
+ 556.2140502929688,
1110
+ 121.25500488281251
1111
+ ]
1112
+ },
1113
+ "obb": {
1114
+ "center": [
1115
+ 1029.6099847412108,
1116
+ -958.252,
1117
+ 150.88400488281252
1118
+ ],
1119
+ "extent": [
1120
+ 63.63038635253906,
1121
+ 556.2140502929688,
1122
+ 121.25500488281251
1123
+ ],
1124
+ "rotation": [
1125
+ 0,
1126
+ 0,
1127
+ 0
1128
+ ]
1129
+ },
1130
+ "location": [
1131
+ 1029.61,
1132
+ -958.252,
1133
+ 29.629
1134
+ ],
1135
+ "rotation": [
1136
+ 0,
1137
+ 0,
1138
+ 0
1139
+ ],
1140
+ "scale": [
1141
+ 1,
1142
+ 1,
1143
+ 1
1144
+ ]
1145
+ },
1146
+ "color": [
1147
+ 31,
1148
+ 255,
1149
+ 31
1150
+ ]
1151
+ },
1152
+ {
1153
+ "object_id": "SM_AI_vol12_02_Outdoor_wall_7_1",
1154
+ "bbox_2d": [
1155
+ 698,
1156
+ 683,
1157
+ 774,
1158
+ 793
1159
+ ],
1160
+ "bbox_3d": {
1161
+ "aabb": {
1162
+ "center": [
1163
+ 1055.52,
1164
+ 15.523399999999981,
1165
+ 155.58444433593752
1166
+ ],
1167
+ "extent": [
1168
+ 89.5390625,
1169
+ 418.9031982421875,
1170
+ 125.95544433593751
1171
+ ]
1172
+ },
1173
+ "obb": {
1174
+ "center": [
1175
+ 1055.52,
1176
+ 15.523399999999981,
1177
+ 155.58444433593752
1178
+ ],
1179
+ "extent": [
1180
+ 89.5390625,
1181
+ 418.9031982421875,
1182
+ 125.95544433593751
1183
+ ],
1184
+ "rotation": [
1185
+ 0,
1186
+ 0,
1187
+ 0
1188
+ ]
1189
+ },
1190
+ "location": [
1191
+ 1055.52,
1192
+ 15.5234,
1193
+ 29.629
1194
+ ],
1195
+ "rotation": [
1196
+ 0,
1197
+ 0,
1198
+ 0
1199
+ ],
1200
+ "scale": [
1201
+ 1,
1202
+ 1,
1203
+ 1
1204
+ ]
1205
+ },
1206
+ "color": [
1207
+ 31,
1208
+ 127,
1209
+ 31
1210
+ ]
1211
+ }
1212
+ ]
1213
+ },
1214
+ "foreground": {
1215
+ "escape light": [
1216
+ {
1217
+ "object_id": "SM_AI_vol12_02_Escape_Light_1_1",
1218
+ "bbox_2d": [
1219
+ 656,
1220
+ 651,
1221
+ 727,
1222
+ 674
1223
+ ],
1224
+ "bbox_3d": {
1225
+ "aabb": {
1226
+ "center": [
1227
+ 471.2619019848098,
1228
+ -270.1830618249048,
1229
+ 245.40414318341737
1230
+ ],
1231
+ "extent": [
1232
+ 8.658907252016093,
1233
+ 21.735248673202463,
1234
+ 6.977718830108643
1235
+ ]
1236
+ },
1237
+ "obb": {
1238
+ "center": [
1239
+ 471.2619019848098,
1240
+ -270.1830618249048,
1241
+ 245.40414318341737
1242
+ ],
1243
+ "extent": [
1244
+ 8.658907252016093,
1245
+ 21.735248673202463,
1246
+ 6.977718830108643
1247
+ ],
1248
+ "rotation": [
1249
+ 0,
1250
+ 79.97726618943237,
1251
+ 0
1252
+ ]
1253
+ },
1254
+ "location": [
1255
+ 476.25990185975616,
1256
+ -271.06638895837244,
1257
+ 245.40414318341737
1258
+ ],
1259
+ "rotation": [
1260
+ 0,
1261
+ 79.97726618943237,
1262
+ 0
1263
+ ],
1264
+ "scale": [
1265
+ 1,
1266
+ 1,
1267
+ 1
1268
+ ]
1269
+ },
1270
+ "color": [
1271
+ 127,
1272
+ 191,
1273
+ 63
1274
+ ]
1275
+ }
1276
+ ],
1277
+ "fire alarm": [
1278
+ {
1279
+ "object_id": "SM_AI_vol12_02_Fire_Alarm_1_1",
1280
+ "bbox_2d": [
1281
+ 1445,
1282
+ 1022,
1283
+ 1500,
1284
+ 1079
1285
+ ],
1286
+ "bbox_3d": {
1287
+ "aabb": {
1288
+ "center": [
1289
+ 121.96586040880331,
1290
+ 21.62493519342352,
1291
+ 193.62957937203007
1292
+ ],
1293
+ "extent": [
1294
+ 5.475914132887809,
1295
+ 6.693747729026345,
1296
+ 6.36363703443817
1297
+ ]
1298
+ },
1299
+ "obb": {
1300
+ "center": [
1301
+ 121.96586040880331,
1302
+ 21.62493519342352,
1303
+ 193.62957937203007
1304
+ ],
1305
+ "extent": [
1306
+ 5.475914132887809,
1307
+ 6.693747729026345,
1308
+ 6.36363703443817
1309
+ ],
1310
+ "rotation": [
1311
+ 8.034876264047209e-13,
1312
+ 118.44794578127137,
1313
+ -3.676471794484711
1314
+ ]
1315
+ },
1316
+ "location": [
1317
+ 124.20275258589528,
1318
+ 22.83683848060578,
1319
+ 192.91728461988254
1320
+ ],
1321
+ "rotation": [
1322
+ 8.034876264047209e-13,
1323
+ 118.44794578127137,
1324
+ -3.676471794484711
1325
+ ],
1326
+ "scale": [
1327
+ 1,
1328
+ 1,
1329
+ 1
1330
+ ]
1331
+ },
1332
+ "color": [
1333
+ 63,
1334
+ 191,
1335
+ 0
1336
+ ]
1337
+ }
1338
+ ],
1339
+ "switch": [
1340
+ {
1341
+ "object_id": "SM_AI_vol12_02_switch_1_1",
1342
+ "bbox_2d": [
1343
+ 1182,
1344
+ 963,
1345
+ 1210,
1346
+ 998
1347
+ ],
1348
+ "bbox_3d": {
1349
+ "aabb": {
1350
+ "center": [
1351
+ 157.03391920591054,
1352
+ -38.64782541918305,
1353
+ 195.05934441105256
1354
+ ],
1355
+ "extent": [
1356
+ 2.8713895084,
1357
+ 4.110751379633456,
1358
+ 4.2442087809290285
1359
+ ]
1360
+ },
1361
+ "obb": {
1362
+ "center": [
1363
+ 157.03391920591054,
1364
+ -38.64782541918305,
1365
+ 195.05934441105256
1366
+ ],
1367
+ "extent": [
1368
+ 2.8713895084,
1369
+ 4.110751379633456,
1370
+ 4.2442087809290285
1371
+ ],
1372
+ "rotation": [
1373
+ 0.6677387835223151,
1374
+ 118.38370715706026,
1375
+ -3.3241961483847144
1376
+ ]
1377
+ },
1378
+ "location": [
1379
+ 157.67546334078443,
1380
+ -38.300617564077776,
1381
+ 195.01698465740535
1382
+ ],
1383
+ "rotation": [
1384
+ 0.6677387835223151,
1385
+ 118.38370715706026,
1386
+ -3.3241961483847144
1387
+ ],
1388
+ "scale": [
1389
+ 1,
1390
+ 1,
1391
+ 1
1392
+ ]
1393
+ },
1394
+ "color": [
1395
+ 63,
1396
+ 191,
1397
+ 255
1398
+ ]
1399
+ }
1400
+ ],
1401
+ "image": [
1402
+ {
1403
+ "object_id": "SM_AI_vol12_02_Image_2_1",
1404
+ "bbox_2d": [
1405
+ 0,
1406
+ 566,
1407
+ 84,
1408
+ 900
1409
+ ],
1410
+ "bbox_3d": {
1411
+ "aabb": {
1412
+ "center": [
1413
+ 480.1074552107502,
1414
+ -710.7103032711976,
1415
+ 203.10076157872354
1416
+ ],
1417
+ "extent": [
1418
+ 15.053262423838305,
1419
+ 59.227398004959355,
1420
+ 102.01848834499557
1421
+ ]
1422
+ },
1423
+ "obb": {
1424
+ "center": [
1425
+ 480.1074552107502,
1426
+ -710.7103032711976,
1427
+ 203.1007615787235
1428
+ ],
1429
+ "extent": [
1430
+ 15.053262423838305,
1431
+ 59.227398004959355,
1432
+ 102.01848834499557
1433
+ ],
1434
+ "rotation": [
1435
+ -86.55720608505361,
1436
+ -177.76417400291834,
1437
+ -87.73621572630412
1438
+ ]
1439
+ },
1440
+ "location": [
1441
+ 477.4269742413204,
1442
+ -710.9214358198283,
1443
+ 203.2623934533154
1444
+ ],
1445
+ "rotation": [
1446
+ -86.55720608505361,
1447
+ -177.76417400291834,
1448
+ -87.73621572630412
1449
+ ],
1450
+ "scale": [
1451
+ 0.8283938765525818,
1452
+ 0.8283938765525818,
1453
+ 0.8283938765525818
1454
+ ]
1455
+ },
1456
+ "color": [
1457
+ 191,
1458
+ 127,
1459
+ 63
1460
+ ]
1461
+ }
1462
+ ]
1463
+ }
1464
+ }
scenes/annotations/AIUE5_vol12_02/l042_off0_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,426 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l042_off0_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l042_off0_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -283,
8
+ -361,
9
+ 493
10
+ ],
11
+ "rotation": [
12
+ 0,
13
+ 180,
14
+ 0
15
+ ],
16
+ "fov": 90,
17
+ "c2w": [
18
+ [
19
+ -0.9999999999999996,
20
+ 1.224646799147353e-16,
21
+ 0,
22
+ 0
23
+ ],
24
+ [
25
+ -1.224646799147353e-16,
26
+ -0.9999999999999996,
27
+ 0,
28
+ 0
29
+ ],
30
+ [
31
+ 0,
32
+ 0,
33
+ 1,
34
+ 0
35
+ ],
36
+ [
37
+ -283,
38
+ -361,
39
+ 493,
40
+ 1
41
+ ]
42
+ ],
43
+ "width": 1920,
44
+ "height": 1080,
45
+ "fxfycxcy": [
46
+ 960.0000000000001,
47
+ 960.0000000000002,
48
+ 960.0,
49
+ 540.0
50
+ ]
51
+ },
52
+ "background": {
53
+ "floor": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
56
+ "bbox_2d": [
57
+ 0,
58
+ 736,
59
+ 1919,
60
+ 1079
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -109.43883007812497,
66
+ -305.40692504882804,
67
+ 381.5008540039062
68
+ ],
69
+ "extent": [
70
+ 632.2734375,
71
+ 649.2933349609375,
72
+ 17.98785400390625
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -109.43883007812497,
78
+ -305.40692504882804,
79
+ 381.5008540039062
80
+ ],
81
+ "extent": [
82
+ 632.2734375,
83
+ 649.2933349609375,
84
+ 17.98785400390625
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -107.713,
94
+ -305.84,
95
+ 363.513
96
+ ],
97
+ "rotation": [
98
+ 0,
99
+ 0,
100
+ 0
101
+ ],
102
+ "scale": [
103
+ 1,
104
+ 1,
105
+ 1
106
+ ]
107
+ },
108
+ "color": [
109
+ 255,
110
+ 255,
111
+ 127
112
+ ]
113
+ }
114
+ ],
115
+ "wall": [
116
+ {
117
+ "object_id": "SM_AI_vol12_02_Wall_14_1",
118
+ "bbox_2d": [
119
+ 1575,
120
+ 0,
121
+ 1919,
122
+ 801
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ -424.933,
128
+ -799.094,
129
+ 585.79394140625
130
+ ],
131
+ "extent": [
132
+ 352.08929443359375,
133
+ 136.33853149414062,
134
+ 196.06494140625
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ -424.933,
140
+ -799.094,
141
+ 585.79394140625
142
+ ],
143
+ "extent": [
144
+ 352.08929443359375,
145
+ 136.33853149414062,
146
+ 196.06494140625
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ -424.933,
156
+ -799.094,
157
+ 389.729
158
+ ],
159
+ "rotation": [
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "scale": [
165
+ 1,
166
+ 1,
167
+ 1
168
+ ]
169
+ },
170
+ "color": [
171
+ 127,
172
+ 127,
173
+ 255
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Wall_15_1",
178
+ "bbox_2d": [
179
+ 0,
180
+ 0,
181
+ 1578,
182
+ 989
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ -614.4759847412109,
188
+ -380.7269847412109,
189
+ 585.79394140625
190
+ ],
191
+ "extent": [
192
+ 162.5470733642578,
193
+ 291.9927978515625,
194
+ 196.06494140625
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ -614.4759847412109,
200
+ -380.7269847412109,
201
+ 585.79394140625
202
+ ],
203
+ "extent": [
204
+ 162.5470733642578,
205
+ 291.9927978515625,
206
+ 196.06494140625
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ -614.476,
216
+ -380.727,
217
+ 389.729
218
+ ],
219
+ "rotation": [
220
+ 0,
221
+ 0,
222
+ 0
223
+ ],
224
+ "scale": [
225
+ 1,
226
+ 1,
227
+ 1
228
+ ]
229
+ },
230
+ "color": [
231
+ 127,
232
+ 127,
233
+ 127
234
+ ]
235
+ }
236
+ ],
237
+ "window": [
238
+ {
239
+ "object_id": "SM_AI_vol12_02_Window_6_1",
240
+ "bbox_2d": [
241
+ 1563,
242
+ 104,
243
+ 1615,
244
+ 741
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ -713.3179209289551,
250
+ -628.0548697814942,
251
+ 386.14321508789067
252
+ ],
253
+ "extent": [
254
+ 61.848880767822266,
255
+ 55.13796615600586,
256
+ 355.4439392089844
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ -713.3179209289551,
262
+ -628.0548697814942,
263
+ 386.1432150878906
264
+ ],
265
+ "extent": [
266
+ 61.848880767822266,
267
+ 55.13796615600586,
268
+ 355.4439392089844
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ -713.306,
278
+ -628.186,
279
+ 29.729
280
+ ],
281
+ "rotation": [
282
+ 0,
283
+ 0,
284
+ 0
285
+ ],
286
+ "scale": [
287
+ 1,
288
+ 1,
289
+ 1
290
+ ]
291
+ },
292
+ "color": [
293
+ 127,
294
+ 63,
295
+ 0
296
+ ]
297
+ }
298
+ ],
299
+ "window glass": [
300
+ {
301
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
302
+ "bbox_2d": [
303
+ 1563,
304
+ 129,
305
+ 1614,
306
+ 731
307
+ ],
308
+ "bbox_3d": {
309
+ "aabb": {
310
+ "center": [
311
+ -713.5362570343018,
312
+ -627.9010802612305,
313
+ 386.2503317871094
314
+ ],
315
+ "extent": [
316
+ 60.059295654296875,
317
+ 52.93374252319336,
318
+ 353.8716735839844
319
+ ]
320
+ },
321
+ "obb": {
322
+ "center": [
323
+ -713.5362570343018,
324
+ -627.9010802612305,
325
+ 386.25033178710936
326
+ ],
327
+ "extent": [
328
+ 60.059295654296875,
329
+ 52.93374252319336,
330
+ 353.8716735839844
331
+ ],
332
+ "rotation": [
333
+ 0,
334
+ 0,
335
+ 0
336
+ ]
337
+ },
338
+ "location": [
339
+ -713.306,
340
+ -628.186,
341
+ 29.729
342
+ ],
343
+ "rotation": [
344
+ 0,
345
+ 0,
346
+ 0
347
+ ],
348
+ "scale": [
349
+ 1,
350
+ 1,
351
+ 1
352
+ ]
353
+ },
354
+ "color": [
355
+ 63,
356
+ 0,
357
+ 255
358
+ ]
359
+ }
360
+ ]
361
+ },
362
+ "foreground": {
363
+ "image": [
364
+ {
365
+ "object_id": "SM_AI_vol12_02_Image_4_1",
366
+ "bbox_2d": [
367
+ 741,
368
+ 104,
369
+ 1418,
370
+ 691
371
+ ],
372
+ "bbox_3d": {
373
+ "aabb": {
374
+ "center": [
375
+ -615.0359013166261,
376
+ -421.9608461045612,
377
+ 532.6706221044617
378
+ ],
379
+ "extent": [
380
+ 70.22006222017069,
381
+ 125.41638675898008,
382
+ 81.6753834958937
383
+ ]
384
+ },
385
+ "obb": {
386
+ "center": [
387
+ -615.0359013166261,
388
+ -421.9608461045612,
389
+ 532.6706221044617
390
+ ],
391
+ "extent": [
392
+ 70.22006222017069,
393
+ 125.41638675898008,
394
+ 81.6753834958937
395
+ ],
396
+ "rotation": [
397
+ 0.40646707108773616,
398
+ -117.45512792778507,
399
+ 1.2406460066726135
400
+ ]
401
+ },
402
+ "location": [
403
+ -611.4749902989585,
404
+ -423.81174101438467,
405
+ 532.583711432499
406
+ ],
407
+ "rotation": [
408
+ 0.40646707108773616,
409
+ -117.45512792778507,
410
+ 1.2406460066726135
411
+ ],
412
+ "scale": [
413
+ 1.1678799390792847,
414
+ 1.1678799390792847,
415
+ 1.1678799390792847
416
+ ]
417
+ },
418
+ "color": [
419
+ 191,
420
+ 63,
421
+ 255
422
+ ]
423
+ }
424
+ ]
425
+ }
426
+ }
scenes/annotations/AIUE5_vol12_02/l046_off1_r000/scene_annotations_split.json ADDED
@@ -0,0 +1,1098 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l046_off1_r000",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l046_off1_r000/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -261,
8
+ -56,
9
+ 523
10
+ ],
11
+ "rotation": [
12
+ 0,
13
+ 0,
14
+ 0
15
+ ],
16
+ "fov": 90,
17
+ "c2w": [
18
+ [
19
+ 1,
20
+ 0,
21
+ 0,
22
+ 0
23
+ ],
24
+ [
25
+ 0,
26
+ 1,
27
+ 0,
28
+ 0
29
+ ],
30
+ [
31
+ 0,
32
+ 0,
33
+ 1,
34
+ 0
35
+ ],
36
+ [
37
+ -261,
38
+ -56,
39
+ 523,
40
+ 1
41
+ ]
42
+ ],
43
+ "width": 1920,
44
+ "height": 1080,
45
+ "fxfycxcy": [
46
+ 960.0000000000001,
47
+ 960.0000000000002,
48
+ 960.0,
49
+ 540.0
50
+ ]
51
+ },
52
+ "background": {
53
+ "ceiling": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Ceiling_2_1",
56
+ "bbox_2d": [
57
+ 693,
58
+ 0,
59
+ 919,
60
+ 299
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 360.99954919433594,
66
+ -152.8619885559082,
67
+ 802.4595083618165
68
+ ],
69
+ "extent": [
70
+ 191.7411346435547,
71
+ 99.34829711914062,
72
+ 106.3945083618164
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 360.99954919433594,
78
+ -152.8619885559082,
79
+ 802.4595083618165
80
+ ],
81
+ "extent": [
82
+ 191.7411346435547,
83
+ 99.34829711914062,
84
+ 106.3945083618164
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 361.221,
94
+ -152.862,
95
+ 696.065
96
+ ],
97
+ "rotation": [
98
+ 0,
99
+ 0,
100
+ 0
101
+ ],
102
+ "scale": [
103
+ 1,
104
+ 1,
105
+ 1
106
+ ]
107
+ },
108
+ "color": [
109
+ 255,
110
+ 0,
111
+ 0
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Ceiling_4_1",
116
+ "bbox_2d": [
117
+ 388,
118
+ 273,
119
+ 533,
120
+ 410
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 363.8465741695809,
126
+ -682.1896706542968,
127
+ 802.9227625732422
128
+ ],
129
+ "extent": [
130
+ 184.16900634765628,
131
+ 301.8201599121094,
132
+ 181.7854461669922
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 363.8465741695809,
138
+ -682.1896706542968,
139
+ 802.9227625732422
140
+ ],
141
+ "extent": [
142
+ 184.16900634765628,
143
+ 301.8201599121094,
144
+ 181.7854461669922
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 363.84658179897536,
154
+ -682.396,
155
+ 621.213
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 255,
170
+ 255,
171
+ 0
172
+ ]
173
+ }
174
+ ],
175
+ "floor": [
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
178
+ "bbox_2d": [
179
+ 0,
180
+ 692,
181
+ 1919,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ -109.43883007812497,
188
+ -305.40692504882804,
189
+ 381.5008540039062
190
+ ],
191
+ "extent": [
192
+ 632.2734375,
193
+ 649.2933349609375,
194
+ 17.98785400390625
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ -109.43883007812497,
200
+ -305.40692504882804,
201
+ 381.5008540039062
202
+ ],
203
+ "extent": [
204
+ 632.2734375,
205
+ 649.2933349609375,
206
+ 17.98785400390625
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ -107.713,
216
+ -305.84,
217
+ 363.513
218
+ ],
219
+ "rotation": [
220
+ 0,
221
+ 0,
222
+ 0
223
+ ],
224
+ "scale": [
225
+ 1,
226
+ 1,
227
+ 1
228
+ ]
229
+ },
230
+ "color": [
231
+ 255,
232
+ 255,
233
+ 127
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
238
+ "bbox_2d": [
239
+ 0,
240
+ 718,
241
+ 738,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 15.152699999999982,
248
+ -467.03198474121086,
249
+ 399.3307082519531
250
+ ],
251
+ "extent": [
252
+ 390.8625183105469,
253
+ 373.12469482421875,
254
+ 0.169708251953125
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 15.152699999999982,
260
+ -467.03198474121086,
261
+ 399.3307082519531
262
+ ],
263
+ "extent": [
264
+ 390.8625183105469,
265
+ 373.12469482421875,
266
+ 0.169708251953125
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 15.1527,
276
+ -467.032,
277
+ 399.161
278
+ ],
279
+ "rotation": [
280
+ 0,
281
+ 0,
282
+ 0
283
+ ],
284
+ "scale": [
285
+ 1,
286
+ 1,
287
+ 1
288
+ ]
289
+ },
290
+ "color": [
291
+ 0,
292
+ 63,
293
+ 0
294
+ ]
295
+ }
296
+ ],
297
+ "wall": [
298
+ {
299
+ "object_id": "SM_AI_vol12_02_Wall_1_1",
300
+ "bbox_2d": [
301
+ 930,
302
+ 960,
303
+ 1445,
304
+ 1079
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 93.24939999999998,
310
+ 133.91399237060546,
311
+ 210.14428320312498
312
+ ],
313
+ "extent": [
314
+ 111.80139923095703,
315
+ 209.30471801757812,
316
+ 180.415283203125
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 93.2494,
322
+ 133.91399237060546,
323
+ 210.14428320312498
324
+ ],
325
+ "extent": [
326
+ 111.80139923095703,
327
+ 209.30471801757812,
328
+ 180.415283203125
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 93.2494,
338
+ 133.914,
339
+ 29.729
340
+ ],
341
+ "rotation": [
342
+ 0,
343
+ 0,
344
+ 0
345
+ ],
346
+ "scale": [
347
+ 1,
348
+ 1,
349
+ 1
350
+ ]
351
+ },
352
+ "color": [
353
+ 0,
354
+ 127,
355
+ 0
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_AI_vol12_02_Wall_9_1",
360
+ "bbox_2d": [
361
+ 919,
362
+ 0,
363
+ 1919,
364
+ 945
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 86.66842916432347,
370
+ 150.61900000000003,
371
+ 585.7907065429688
372
+ ],
373
+ "extent": [
374
+ 118.70797729492188,
375
+ 225.9097137451172,
376
+ 196.06170654296875
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 86.66842916432346,
382
+ 150.619,
383
+ 585.7907065429688
384
+ ],
385
+ "extent": [
386
+ 118.70797729492188,
387
+ 225.9097137451172,
388
+ 196.06170654296875
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 86.66842916432346,
398
+ 150.619,
399
+ 389.729
400
+ ],
401
+ "rotation": [
402
+ 0,
403
+ 0,
404
+ 0
405
+ ],
406
+ "scale": [
407
+ 1,
408
+ 1,
409
+ 1
410
+ ]
411
+ },
412
+ "color": [
413
+ 127,
414
+ 255,
415
+ 0
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_10_1",
420
+ "bbox_2d": [
421
+ 919,
422
+ 371,
423
+ 919,
424
+ 373
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ 372.65262916432346,
430
+ -66.28759809265136,
431
+ 585.7906912841797
432
+ ],
433
+ "extent": [
434
+ 180.29879760742188,
435
+ 12.773839950561523,
436
+ 196.0616912841797
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ 372.65262916432346,
442
+ -66.28759809265136,
443
+ 585.7906912841797
444
+ ],
445
+ "extent": [
446
+ 180.29879760742188,
447
+ 12.773839950561523,
448
+ 196.0616912841797
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ 372.65262916432346,
458
+ -66.2876,
459
+ 389.729
460
+ ],
461
+ "rotation": [
462
+ 0,
463
+ 0,
464
+ 0
465
+ ],
466
+ "scale": [
467
+ 1,
468
+ 1,
469
+ 1
470
+ ]
471
+ },
472
+ "color": [
473
+ 127,
474
+ 255,
475
+ 255
476
+ ]
477
+ },
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Wall_11_1",
480
+ "bbox_2d": [
481
+ 533,
482
+ 335,
483
+ 919,
484
+ 701
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ 511.1336596819017,
490
+ -218.0759923706055,
491
+ 542.9191550292969
492
+ ],
493
+ "extent": [
494
+ 41.81835937500003,
495
+ 163.89883422851562,
496
+ 153.19015502929688
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ 511.1336596819017,
502
+ -218.0759923706055,
503
+ 542.9191550292969
504
+ ],
505
+ "extent": [
506
+ 41.81835937500003,
507
+ 163.89883422851562,
508
+ 153.19015502929688
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ 511.1336291643235,
518
+ -218.076,
519
+ 389.729
520
+ ],
521
+ "rotation": [
522
+ 0,
523
+ 0,
524
+ 0
525
+ ],
526
+ "scale": [
527
+ 1,
528
+ 1,
529
+ 1
530
+ ]
531
+ },
532
+ "color": [
533
+ 127,
534
+ 0,
535
+ 127
536
+ ]
537
+ },
538
+ {
539
+ "object_id": "SM_AI_vol12_02_Wall_12_1",
540
+ "bbox_2d": [
541
+ 0,
542
+ 393,
543
+ 532,
544
+ 701
545
+ ],
546
+ "bbox_3d": {
547
+ "aabb": {
548
+ "center": [
549
+ 508.3386596819016,
550
+ -682.396,
551
+ 542.9197043457032
552
+ ],
553
+ "extent": [
554
+ 39.0238037109375,
555
+ 301.61383056640625,
556
+ 153.19070434570312
557
+ ]
558
+ },
559
+ "obb": {
560
+ "center": [
561
+ 508.3386596819016,
562
+ -682.396,
563
+ 542.9197043457032
564
+ ],
565
+ "extent": [
566
+ 39.0238037109375,
567
+ 301.61383056640625,
568
+ 153.19070434570312
569
+ ],
570
+ "rotation": [
571
+ 0,
572
+ 0,
573
+ 0
574
+ ]
575
+ },
576
+ "location": [
577
+ 508.3386291643235,
578
+ -682.396,
579
+ 389.729
580
+ ],
581
+ "rotation": [
582
+ 0,
583
+ 0,
584
+ 0
585
+ ],
586
+ "scale": [
587
+ 1,
588
+ 1,
589
+ 1
590
+ ]
591
+ },
592
+ "color": [
593
+ 127,
594
+ 255,
595
+ 127
596
+ ]
597
+ }
598
+ ],
599
+ "floor glass": [
600
+ {
601
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
602
+ "bbox_2d": [
603
+ 0,
604
+ 767,
605
+ 609,
606
+ 961
607
+ ],
608
+ "bbox_3d": {
609
+ "aabb": {
610
+ "center": [
611
+ 12.276647143554683,
612
+ -409.4788231201171,
613
+ 399.4571883544922
614
+ ],
615
+ "extent": [
616
+ 250.27244567871094,
617
+ 216.33436584472653,
618
+ 0.0432586669921875
619
+ ]
620
+ },
621
+ "obb": {
622
+ "center": [
623
+ 12.276647143554698,
624
+ -409.4788231201171,
625
+ 399.4571883544922
626
+ ],
627
+ "extent": [
628
+ 250.27244567871094,
629
+ 216.33436584472653,
630
+ 0.0432586669921875
631
+ ],
632
+ "rotation": [
633
+ 0,
634
+ 0,
635
+ 0
636
+ ]
637
+ },
638
+ "location": [
639
+ 15.1527,
640
+ -467.032,
641
+ 399.161
642
+ ],
643
+ "rotation": [
644
+ 0,
645
+ 0,
646
+ 0
647
+ ],
648
+ "scale": [
649
+ 1,
650
+ 1,
651
+ 1
652
+ ]
653
+ },
654
+ "color": [
655
+ 127,
656
+ 0,
657
+ 63
658
+ ]
659
+ }
660
+ ],
661
+ "stairs": [
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Stairs_1_1",
664
+ "bbox_2d": [
665
+ 1498,
666
+ 1025,
667
+ 1511,
668
+ 1079
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ -80.33650762939453,
674
+ 44.849199999999996,
675
+ 249.99920270996097
676
+ ],
677
+ "extent": [
678
+ 193.55096435546875,
679
+ 152.25680541992188,
680
+ 220.00340270996094
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ -80.33650762939453,
686
+ 44.849199999999996,
687
+ 249.99920270996094
688
+ ],
689
+ "extent": [
690
+ 193.55096435546875,
691
+ 152.25680541992188,
692
+ 220.00340270996094
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ -80.3365,
702
+ 44.8492,
703
+ 29.9958
704
+ ],
705
+ "rotation": [
706
+ 0,
707
+ 0,
708
+ 0
709
+ ],
710
+ "scale": [
711
+ 1,
712
+ 1,
713
+ 1
714
+ ]
715
+ },
716
+ "color": [
717
+ 127,
718
+ 127,
719
+ 63
720
+ ]
721
+ }
722
+ ],
723
+ "window": [
724
+ {
725
+ "object_id": "SM_AI_vol12_02_Window_2_1",
726
+ "bbox_2d": [
727
+ 915,
728
+ 1078,
729
+ 915,
730
+ 1079
731
+ ],
732
+ "bbox_3d": {
733
+ "aabb": {
734
+ "center": [
735
+ 197.11,
736
+ -70.4276,
737
+ 203.33648068847657
738
+ ],
739
+ "extent": [
740
+ 40.70147705078125,
741
+ 26.7047119140625,
742
+ 171.80458068847656
743
+ ]
744
+ },
745
+ "obb": {
746
+ "center": [
747
+ 197.11,
748
+ -70.4276,
749
+ 203.33648068847657
750
+ ],
751
+ "extent": [
752
+ 40.70147705078125,
753
+ 26.7047119140625,
754
+ 171.80458068847656
755
+ ],
756
+ "rotation": [
757
+ 0,
758
+ 0,
759
+ 0
760
+ ]
761
+ },
762
+ "location": [
763
+ 197.11,
764
+ -70.4276,
765
+ 31.5319
766
+ ],
767
+ "rotation": [
768
+ 0,
769
+ 0,
770
+ 0
771
+ ],
772
+ "scale": [
773
+ 1,
774
+ 1,
775
+ 1
776
+ ]
777
+ },
778
+ "color": [
779
+ 0,
780
+ 63,
781
+ 127
782
+ ]
783
+ }
784
+ ],
785
+ "window glass": [
786
+ {
787
+ "object_id": "SM_AI_vol12_02_Window_glass_2_1",
788
+ "bbox_2d": [
789
+ 916,
790
+ 1034,
791
+ 931,
792
+ 1079
793
+ ],
794
+ "bbox_3d": {
795
+ "aabb": {
796
+ "center": [
797
+ 197.142,
798
+ -70.4178,
799
+ 203.24713515625
800
+ ],
801
+ "extent": [
802
+ 37.23919677734375,
803
+ 22.606124877929688,
804
+ 169.93603515625
805
+ ]
806
+ },
807
+ "obb": {
808
+ "center": [
809
+ 197.142,
810
+ -70.4178,
811
+ 203.24713515625
812
+ ],
813
+ "extent": [
814
+ 37.23919677734375,
815
+ 22.606124877929688,
816
+ 169.93603515625
817
+ ],
818
+ "rotation": [
819
+ 0,
820
+ 0,
821
+ 0
822
+ ]
823
+ },
824
+ "location": [
825
+ 197.142,
826
+ -70.4178,
827
+ 33.3111
828
+ ],
829
+ "rotation": [
830
+ 0,
831
+ 0,
832
+ 0
833
+ ],
834
+ "scale": [
835
+ 1,
836
+ 1,
837
+ 1
838
+ ]
839
+ },
840
+ "color": [
841
+ 0,
842
+ 63,
843
+ 63
844
+ ]
845
+ }
846
+ ],
847
+ "ceiling box": [
848
+ {
849
+ "object_id": "SM_AI_vol12_02_Ceiling_Box_1_1",
850
+ "bbox_2d": [
851
+ 0,
852
+ 0,
853
+ 571,
854
+ 497
855
+ ],
856
+ "bbox_3d": {
857
+ "aabb": {
858
+ "center": [
859
+ 2.5983100000000263,
860
+ -409.323,
861
+ 760.3711724853515
862
+ ],
863
+ "extent": [
864
+ 260.15771484375,
865
+ 228.5609130859375,
866
+ 245.18885803222656
867
+ ]
868
+ },
869
+ "obb": {
870
+ "center": [
871
+ 2.5983100000000263,
872
+ -409.323,
873
+ 760.3711724853515
874
+ ],
875
+ "extent": [
876
+ 260.15771484375,
877
+ 228.5609130859375,
878
+ 245.18885803222656
879
+ ],
880
+ "rotation": [
881
+ 0,
882
+ 0,
883
+ 0
884
+ ]
885
+ },
886
+ "location": [
887
+ 2.59831,
888
+ -409.323,
889
+ 1005.56
890
+ ],
891
+ "rotation": [
892
+ 0,
893
+ 0,
894
+ 0
895
+ ],
896
+ "scale": [
897
+ 1,
898
+ 1,
899
+ 1
900
+ ]
901
+ },
902
+ "color": [
903
+ 63,
904
+ 255,
905
+ 255
906
+ ]
907
+ }
908
+ ]
909
+ },
910
+ "foreground": {
911
+ "cctv": [
912
+ {
913
+ "object_id": "SM_AI_vol12_02_CCTV_1_1",
914
+ "bbox_2d": [
915
+ 949,
916
+ 63,
917
+ 991,
918
+ 110
919
+ ],
920
+ "bbox_3d": {
921
+ "aabb": {
922
+ "center": [
923
+ 173.15930626421945,
924
+ -53.50703163020124,
925
+ 729.9820177673561
926
+ ],
927
+ "extent": [
928
+ 11.017114891263958,
929
+ 12.077697892467182,
930
+ 9.826026916503906
931
+ ]
932
+ },
933
+ "obb": {
934
+ "center": [
935
+ 173.15930626421945,
936
+ -53.50703163020124,
937
+ 729.9820177673561
938
+ ],
939
+ "extent": [
940
+ 11.017114891263958,
941
+ 12.077697892467182,
942
+ 9.826026916503906
943
+ ],
944
+ "rotation": [
945
+ -90,
946
+ 180,
947
+ -151.8199545253476
948
+ ]
949
+ },
950
+ "location": [
951
+ 179.5439637726096,
952
+ -50.086470671758946,
953
+ 729.9820177673561
954
+ ],
955
+ "rotation": [
956
+ -90,
957
+ 180,
958
+ -151.8199545253476
959
+ ],
960
+ "scale": [
961
+ 1,
962
+ 1,
963
+ 1
964
+ ]
965
+ },
966
+ "color": [
967
+ 63,
968
+ 191,
969
+ 191
970
+ ]
971
+ }
972
+ ],
973
+ "extinguisher": [
974
+ {
975
+ "object_id": "SM_AI_vol12_02_Extinguisher_1_1",
976
+ "bbox_2d": [
977
+ 968,
978
+ 718,
979
+ 1016,
980
+ 828
981
+ ],
982
+ "bbox_3d": {
983
+ "aabb": {
984
+ "center": [
985
+ 153.63098881043288,
986
+ -43.22538806211874,
987
+ 421.40474051828005
988
+ ],
989
+ "extent": [
990
+ 21.287885934933513,
991
+ 16.26477284334358,
992
+ 21.987218856811523
993
+ ]
994
+ },
995
+ "obb": {
996
+ "center": [
997
+ 153.63098881043288,
998
+ -43.22538806211874,
999
+ 421.40474051828005
1000
+ ],
1001
+ "extent": [
1002
+ 21.287885934933513,
1003
+ 16.26477284334358,
1004
+ 21.987218856811523
1005
+ ],
1006
+ "rotation": [
1007
+ 0,
1008
+ 111.8972898558426,
1009
+ 0
1010
+ ]
1011
+ },
1012
+ "location": [
1013
+ 162.58242705481797,
1014
+ -50.307300947892294,
1015
+ 413.97719306344607
1016
+ ],
1017
+ "rotation": [
1018
+ 0,
1019
+ 111.8972898558426,
1020
+ 0
1021
+ ],
1022
+ "scale": [
1023
+ 1,
1024
+ 1,
1025
+ 1
1026
+ ]
1027
+ },
1028
+ "color": [
1029
+ 191,
1030
+ 0,
1031
+ 0
1032
+ ]
1033
+ }
1034
+ ],
1035
+ "image": [
1036
+ {
1037
+ "object_id": "SM_AI_vol12_02_Image_3_1",
1038
+ "bbox_2d": [
1039
+ 0,
1040
+ 449,
1041
+ 281,
1042
+ 627
1043
+ ],
1044
+ "bbox_3d": {
1045
+ "aabb": {
1046
+ "center": [
1047
+ 499.6606907690431,
1048
+ -709.0623865006586,
1049
+ 525.7181883448701
1050
+ ],
1051
+ "extent": [
1052
+ 15.609846164806385,
1053
+ 125.86093947633708,
1054
+ 71.01539611816406
1055
+ ]
1056
+ },
1057
+ "obb": {
1058
+ "center": [
1059
+ 499.6606907690431,
1060
+ -709.0623865006586,
1061
+ 525.7181883448701
1062
+ ],
1063
+ "extent": [
1064
+ 15.609846164806385,
1065
+ 125.86093947633708,
1066
+ 71.01539611816406
1067
+ ],
1068
+ "rotation": [
1069
+ 0,
1070
+ 95.07878300205863,
1071
+ 0
1072
+ ]
1073
+ },
1074
+ "location": [
1075
+ 496.25547680402275,
1076
+ -709.3650419247047,
1077
+ 525.7181883448701
1078
+ ],
1079
+ "rotation": [
1080
+ 0,
1081
+ 95.07878300205863,
1082
+ 0
1083
+ ],
1084
+ "scale": [
1085
+ 1,
1086
+ 1,
1087
+ 1
1088
+ ]
1089
+ },
1090
+ "color": [
1091
+ 191,
1092
+ 63,
1093
+ 0
1094
+ ]
1095
+ }
1096
+ ]
1097
+ }
1098
+ }
scenes/annotations/AIUE5_vol12_02/l048_off1_r004/scene_annotations_split.json ADDED
@@ -0,0 +1,1156 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l048_off1_r004",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l048_off1_r004/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -170,
8
+ 130,
9
+ 523
10
+ ],
11
+ "rotation": [
12
+ 0,
13
+ -120.00000000000007,
14
+ 0
15
+ ],
16
+ "fov": 90,
17
+ "c2w": [
18
+ [
19
+ -0.5000000000000007,
20
+ -0.8660254037844379,
21
+ 0,
22
+ 0
23
+ ],
24
+ [
25
+ 0.8660254037844379,
26
+ -0.5000000000000007,
27
+ 0,
28
+ 0
29
+ ],
30
+ [
31
+ 0,
32
+ 0,
33
+ 1,
34
+ 0
35
+ ],
36
+ [
37
+ -170,
38
+ 130,
39
+ 523,
40
+ 1
41
+ ]
42
+ ],
43
+ "width": 1920,
44
+ "height": 1080,
45
+ "fxfycxcy": [
46
+ 960.0000000000001,
47
+ 960.0000000000002,
48
+ 960.0,
49
+ 540.0
50
+ ]
51
+ },
52
+ "background": {
53
+ "ceiling": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Ceiling_6_1",
56
+ "bbox_2d": [
57
+ 855,
58
+ 0,
59
+ 1560,
60
+ 285
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -404.05967418246996,
66
+ -716.3239847412109,
67
+ 887.444958618164
68
+ ],
69
+ "extent": [
70
+ 372.09881591796875,
71
+ 219.1094207763672,
72
+ 105.74501037597656
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -404.05967418246996,
78
+ -716.3239847412109,
79
+ 887.444958618164
80
+ ],
81
+ "extent": [
82
+ 372.09881591796875,
83
+ 219.1094207763672,
84
+ 105.74501037597656
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -404.27541820102465,
94
+ -716.324,
95
+ 781.828
96
+ ],
97
+ "rotation": [
98
+ 0,
99
+ 0,
100
+ 0
101
+ ],
102
+ "scale": [
103
+ 1,
104
+ 1,
105
+ 1
106
+ ]
107
+ },
108
+ "color": [
109
+ 0,
110
+ 0,
111
+ 127
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Ceiling_7_1",
116
+ "bbox_2d": [
117
+ 603,
118
+ 0,
119
+ 1194,
120
+ 285
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ -482.9028309207513,
126
+ -380.7269847412109,
127
+ 814.088105834961
128
+ ],
129
+ "extent": [
130
+ 293.25537109375,
131
+ 291.9927978515625,
132
+ 179.09910583496094
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ -482.9028309207513,
138
+ -380.7269847412109,
139
+ 814.088105834961
140
+ ],
141
+ "extent": [
142
+ 293.25537109375,
143
+ 291.9927978515625,
144
+ 179.09910583496094
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ -483.07041820102467,
154
+ -380.727,
155
+ 634.989
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 0,
170
+ 255,
171
+ 127
172
+ ]
173
+ },
174
+ {
175
+ "object_id": "SM_AI_vol12_02_Ceiling_8_1",
176
+ "bbox_2d": [
177
+ 543,
178
+ 0,
179
+ 919,
180
+ 226
181
+ ],
182
+ "bbox_3d": {
183
+ "aabb": {
184
+ "center": [
185
+ -220.91700762939456,
186
+ 107.85474865722655,
187
+ 805.9363876953125
188
+ ],
189
+ "extent": [
190
+ 251.57647705078125,
191
+ 268.6739501953125,
192
+ 171.050048828125
193
+ ]
194
+ },
195
+ "obb": {
196
+ "center": [
197
+ -220.91700762939456,
198
+ 107.85474865722657,
199
+ 805.9363876953125
200
+ ],
201
+ "extent": [
202
+ 251.57647705078125,
203
+ 268.6739501953125,
204
+ 171.050048828125
205
+ ],
206
+ "rotation": [
207
+ 0,
208
+ 0,
209
+ 0
210
+ ]
211
+ },
212
+ "location": [
213
+ -220.917,
214
+ 108.078,
215
+ 634.989
216
+ ],
217
+ "rotation": [
218
+ 0,
219
+ 0,
220
+ 0
221
+ ],
222
+ "scale": [
223
+ 1,
224
+ 1,
225
+ 1
226
+ ]
227
+ },
228
+ "color": [
229
+ 255,
230
+ 0,
231
+ 127
232
+ ]
233
+ }
234
+ ],
235
+ "floor": [
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
238
+ "bbox_2d": [
239
+ 535,
240
+ 662,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ -109.43883007812497,
248
+ -305.40692504882804,
249
+ 381.5008540039062
250
+ ],
251
+ "extent": [
252
+ 632.2734375,
253
+ 649.2933349609375,
254
+ 17.98785400390625
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ -109.43883007812497,
260
+ -305.40692504882804,
261
+ 381.5008540039062
262
+ ],
263
+ "extent": [
264
+ 632.2734375,
265
+ 649.2933349609375,
266
+ 17.98785400390625
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ -107.713,
276
+ -305.84,
277
+ 363.513
278
+ ],
279
+ "rotation": [
280
+ 0,
281
+ 0,
282
+ 0
283
+ ],
284
+ "scale": [
285
+ 1,
286
+ 1,
287
+ 1
288
+ ]
289
+ },
290
+ "color": [
291
+ 255,
292
+ 255,
293
+ 127
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
298
+ "bbox_2d": [
299
+ 935,
300
+ 694,
301
+ 1919,
302
+ 978
303
+ ],
304
+ "bbox_3d": {
305
+ "aabb": {
306
+ "center": [
307
+ 15.152699999999982,
308
+ -467.03198474121086,
309
+ 399.3307082519531
310
+ ],
311
+ "extent": [
312
+ 390.8625183105469,
313
+ 373.12469482421875,
314
+ 0.169708251953125
315
+ ]
316
+ },
317
+ "obb": {
318
+ "center": [
319
+ 15.152699999999982,
320
+ -467.03198474121086,
321
+ 399.3307082519531
322
+ ],
323
+ "extent": [
324
+ 390.8625183105469,
325
+ 373.12469482421875,
326
+ 0.169708251953125
327
+ ],
328
+ "rotation": [
329
+ 0,
330
+ 0,
331
+ 0
332
+ ]
333
+ },
334
+ "location": [
335
+ 15.1527,
336
+ -467.032,
337
+ 399.161
338
+ ],
339
+ "rotation": [
340
+ 0,
341
+ 0,
342
+ 0
343
+ ],
344
+ "scale": [
345
+ 1,
346
+ 1,
347
+ 1
348
+ ]
349
+ },
350
+ "color": [
351
+ 0,
352
+ 63,
353
+ 0
354
+ ]
355
+ }
356
+ ],
357
+ "wall": [
358
+ {
359
+ "object_id": "SM_AI_vol12_02_Wall_13_1",
360
+ "bbox_2d": [
361
+ 1641,
362
+ 364,
363
+ 1919,
364
+ 693
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 234.64462916432342,
370
+ -947.386,
371
+ 585.7877158203125
372
+ ],
373
+ "extent": [
374
+ 312.718505859375,
375
+ 36.62384033203125,
376
+ 196.0587158203125
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 234.64462916432345,
382
+ -947.386,
383
+ 585.7877158203125
384
+ ],
385
+ "extent": [
386
+ 312.718505859375,
387
+ 36.62384033203125,
388
+ 196.0587158203125
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 234.64462916432345,
398
+ -947.386,
399
+ 389.729
400
+ ],
401
+ "rotation": [
402
+ 0,
403
+ 0,
404
+ 0
405
+ ],
406
+ "scale": [
407
+ 1,
408
+ 1,
409
+ 1
410
+ ]
411
+ },
412
+ "color": [
413
+ 127,
414
+ 127,
415
+ 0
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_14_1",
420
+ "bbox_2d": [
421
+ 854,
422
+ 252,
423
+ 1640,
424
+ 678
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ -424.933,
430
+ -799.094,
431
+ 585.79394140625
432
+ ],
433
+ "extent": [
434
+ 352.08929443359375,
435
+ 136.33853149414062,
436
+ 196.06494140625
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ -424.933,
442
+ -799.094,
443
+ 585.79394140625
444
+ ],
445
+ "extent": [
446
+ 352.08929443359375,
447
+ 136.33853149414062,
448
+ 196.06494140625
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ -424.933,
458
+ -799.094,
459
+ 389.729
460
+ ],
461
+ "rotation": [
462
+ 0,
463
+ 0,
464
+ 0
465
+ ],
466
+ "scale": [
467
+ 1,
468
+ 1,
469
+ 1
470
+ ]
471
+ },
472
+ "color": [
473
+ 127,
474
+ 127,
475
+ 255
476
+ ]
477
+ },
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Wall_15_1",
480
+ "bbox_2d": [
481
+ 603,
482
+ 227,
483
+ 857,
484
+ 884
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ -614.4759847412109,
490
+ -380.7269847412109,
491
+ 585.79394140625
492
+ ],
493
+ "extent": [
494
+ 162.5470733642578,
495
+ 291.9927978515625,
496
+ 196.06494140625
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ -614.4759847412109,
502
+ -380.7269847412109,
503
+ 585.79394140625
504
+ ],
505
+ "extent": [
506
+ 162.5470733642578,
507
+ 291.9927978515625,
508
+ 196.06494140625
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ -614.476,
518
+ -380.727,
519
+ 389.729
520
+ ],
521
+ "rotation": [
522
+ 0,
523
+ 0,
524
+ 0
525
+ ],
526
+ "scale": [
527
+ 1,
528
+ 1,
529
+ 1
530
+ ]
531
+ },
532
+ "color": [
533
+ 127,
534
+ 127,
535
+ 127
536
+ ]
537
+ },
538
+ {
539
+ "object_id": "SM_AI_vol12_02_Wall_16_1",
540
+ "bbox_2d": [
541
+ 0,
542
+ 0,
543
+ 603,
544
+ 1079
545
+ ],
546
+ "bbox_3d": {
547
+ "aabb": {
548
+ "center": [
549
+ -250.46037083567654,
550
+ 136.49199999999996,
551
+ 583.4498251953125
552
+ ],
553
+ "extent": [
554
+ 221.8224639892578,
555
+ 240.0364990234375,
556
+ 193.7208251953125
557
+ ]
558
+ },
559
+ "obb": {
560
+ "center": [
561
+ -250.46037083567654,
562
+ 136.492,
563
+ 583.4498251953125
564
+ ],
565
+ "extent": [
566
+ 221.8224639892578,
567
+ 240.0364990234375,
568
+ 193.7208251953125
569
+ ],
570
+ "rotation": [
571
+ 0,
572
+ 0,
573
+ 0
574
+ ]
575
+ },
576
+ "location": [
577
+ -250.46037083567654,
578
+ 136.492,
579
+ 389.729
580
+ ],
581
+ "rotation": [
582
+ 0,
583
+ 0,
584
+ 0
585
+ ],
586
+ "scale": [
587
+ 1,
588
+ 1,
589
+ 1
590
+ ]
591
+ },
592
+ "color": [
593
+ 0,
594
+ 0,
595
+ 63
596
+ ]
597
+ }
598
+ ],
599
+ "floor glass": [
600
+ {
601
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
602
+ "bbox_2d": [
603
+ 1315,
604
+ 751,
605
+ 1919,
606
+ 913
607
+ ],
608
+ "bbox_3d": {
609
+ "aabb": {
610
+ "center": [
611
+ 12.276647143554683,
612
+ -409.4788231201171,
613
+ 399.4571883544922
614
+ ],
615
+ "extent": [
616
+ 250.27244567871094,
617
+ 216.33436584472653,
618
+ 0.0432586669921875
619
+ ]
620
+ },
621
+ "obb": {
622
+ "center": [
623
+ 12.276647143554698,
624
+ -409.4788231201171,
625
+ 399.4571883544922
626
+ ],
627
+ "extent": [
628
+ 250.27244567871094,
629
+ 216.33436584472653,
630
+ 0.0432586669921875
631
+ ],
632
+ "rotation": [
633
+ 0,
634
+ 0,
635
+ 0
636
+ ]
637
+ },
638
+ "location": [
639
+ 15.1527,
640
+ -467.032,
641
+ 399.161
642
+ ],
643
+ "rotation": [
644
+ 0,
645
+ 0,
646
+ 0
647
+ ],
648
+ "scale": [
649
+ 1,
650
+ 1,
651
+ 1
652
+ ]
653
+ },
654
+ "color": [
655
+ 127,
656
+ 0,
657
+ 63
658
+ ]
659
+ }
660
+ ],
661
+ "ceiling construction": [
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_2_1",
664
+ "bbox_2d": [
665
+ 917,
666
+ 0,
667
+ 927,
668
+ 3
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ 1.2842699999999923,
674
+ -446.86699999999996,
675
+ 891.0819011230469
676
+ ],
677
+ "extent": [
678
+ 371.54345703125,
679
+ 332.81573486328125,
680
+ 183.67996215820312
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ 1.2842699999999923,
686
+ -446.86699999999996,
687
+ 891.0819011230469
688
+ ],
689
+ "extent": [
690
+ 371.54345703125,
691
+ 332.81573486328125,
692
+ 183.67996215820312
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ 1.28427,
702
+ -446.867,
703
+ 707.402
704
+ ],
705
+ "rotation": [
706
+ 0,
707
+ 0,
708
+ 0
709
+ ],
710
+ "scale": [
711
+ 1,
712
+ 1,
713
+ 1
714
+ ]
715
+ },
716
+ "color": [
717
+ 127,
718
+ 255,
719
+ 63
720
+ ]
721
+ }
722
+ ],
723
+ "stairs": [
724
+ {
725
+ "object_id": "SM_AI_vol12_02_Stairs_1_1",
726
+ "bbox_2d": [
727
+ 926,
728
+ 779,
729
+ 1546,
730
+ 1079
731
+ ],
732
+ "bbox_3d": {
733
+ "aabb": {
734
+ "center": [
735
+ -80.33650762939453,
736
+ 44.849199999999996,
737
+ 249.99920270996097
738
+ ],
739
+ "extent": [
740
+ 193.55096435546875,
741
+ 152.25680541992188,
742
+ 220.00340270996094
743
+ ]
744
+ },
745
+ "obb": {
746
+ "center": [
747
+ -80.33650762939453,
748
+ 44.849199999999996,
749
+ 249.99920270996094
750
+ ],
751
+ "extent": [
752
+ 193.55096435546875,
753
+ 152.25680541992188,
754
+ 220.00340270996094
755
+ ],
756
+ "rotation": [
757
+ 0,
758
+ 0,
759
+ 0
760
+ ]
761
+ },
762
+ "location": [
763
+ -80.3365,
764
+ 44.8492,
765
+ 29.9958
766
+ ],
767
+ "rotation": [
768
+ 0,
769
+ 0,
770
+ 0
771
+ ],
772
+ "scale": [
773
+ 1,
774
+ 1,
775
+ 1
776
+ ]
777
+ },
778
+ "color": [
779
+ 127,
780
+ 127,
781
+ 63
782
+ ]
783
+ }
784
+ ],
785
+ "window": [
786
+ {
787
+ "object_id": "SM_AI_vol12_02_Window_6_1",
788
+ "bbox_2d": [
789
+ 856,
790
+ 488,
791
+ 869,
792
+ 663
793
+ ],
794
+ "bbox_3d": {
795
+ "aabb": {
796
+ "center": [
797
+ -713.3179209289551,
798
+ -628.0548697814942,
799
+ 386.14321508789067
800
+ ],
801
+ "extent": [
802
+ 61.848880767822266,
803
+ 55.13796615600586,
804
+ 355.4439392089844
805
+ ]
806
+ },
807
+ "obb": {
808
+ "center": [
809
+ -713.3179209289551,
810
+ -628.0548697814942,
811
+ 386.1432150878906
812
+ ],
813
+ "extent": [
814
+ 61.848880767822266,
815
+ 55.13796615600586,
816
+ 355.4439392089844
817
+ ],
818
+ "rotation": [
819
+ 0,
820
+ 0,
821
+ 0
822
+ ]
823
+ },
824
+ "location": [
825
+ -713.306,
826
+ -628.186,
827
+ 29.729
828
+ ],
829
+ "rotation": [
830
+ 0,
831
+ 0,
832
+ 0
833
+ ],
834
+ "scale": [
835
+ 1,
836
+ 1,
837
+ 1
838
+ ]
839
+ },
840
+ "color": [
841
+ 127,
842
+ 63,
843
+ 0
844
+ ]
845
+ }
846
+ ],
847
+ "window glass": [
848
+ {
849
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
850
+ "bbox_2d": [
851
+ 856,
852
+ 509,
853
+ 866,
854
+ 659
855
+ ],
856
+ "bbox_3d": {
857
+ "aabb": {
858
+ "center": [
859
+ -713.5362570343018,
860
+ -627.9010802612305,
861
+ 386.2503317871094
862
+ ],
863
+ "extent": [
864
+ 60.059295654296875,
865
+ 52.93374252319336,
866
+ 353.8716735839844
867
+ ]
868
+ },
869
+ "obb": {
870
+ "center": [
871
+ -713.5362570343018,
872
+ -627.9010802612305,
873
+ 386.25033178710936
874
+ ],
875
+ "extent": [
876
+ 60.059295654296875,
877
+ 52.93374252319336,
878
+ 353.8716735839844
879
+ ],
880
+ "rotation": [
881
+ 0,
882
+ 0,
883
+ 0
884
+ ]
885
+ },
886
+ "location": [
887
+ -713.306,
888
+ -628.186,
889
+ 29.729
890
+ ],
891
+ "rotation": [
892
+ 0,
893
+ 0,
894
+ 0
895
+ ],
896
+ "scale": [
897
+ 1,
898
+ 1,
899
+ 1
900
+ ]
901
+ },
902
+ "color": [
903
+ 63,
904
+ 0,
905
+ 255
906
+ ]
907
+ }
908
+ ],
909
+ "ceiling box": [
910
+ {
911
+ "object_id": "SM_AI_vol12_02_Ceiling_Box_1_1",
912
+ "bbox_2d": [
913
+ 1382,
914
+ 0,
915
+ 1919,
916
+ 521
917
+ ],
918
+ "bbox_3d": {
919
+ "aabb": {
920
+ "center": [
921
+ 2.5983100000000263,
922
+ -409.323,
923
+ 760.3711724853515
924
+ ],
925
+ "extent": [
926
+ 260.15771484375,
927
+ 228.5609130859375,
928
+ 245.18885803222656
929
+ ]
930
+ },
931
+ "obb": {
932
+ "center": [
933
+ 2.5983100000000263,
934
+ -409.323,
935
+ 760.3711724853515
936
+ ],
937
+ "extent": [
938
+ 260.15771484375,
939
+ 228.5609130859375,
940
+ 245.18885803222656
941
+ ],
942
+ "rotation": [
943
+ 0,
944
+ 0,
945
+ 0
946
+ ]
947
+ },
948
+ "location": [
949
+ 2.59831,
950
+ -409.323,
951
+ 1005.56
952
+ ],
953
+ "rotation": [
954
+ 0,
955
+ 0,
956
+ 0
957
+ ],
958
+ "scale": [
959
+ 1,
960
+ 1,
961
+ 1
962
+ ]
963
+ },
964
+ "color": [
965
+ 63,
966
+ 255,
967
+ 255
968
+ ]
969
+ }
970
+ ]
971
+ },
972
+ "foreground": {
973
+ "image": [
974
+ {
975
+ "object_id": "SM_AI_vol12_02_Image_1_1",
976
+ "bbox_2d": [
977
+ 1061,
978
+ 418,
979
+ 1454,
980
+ 612
981
+ ],
982
+ "bbox_3d": {
983
+ "aabb": {
984
+ "center": [
985
+ -384.71616552117706,
986
+ -789.422156409466,
987
+ 545.0371241461015
988
+ ],
989
+ "extent": [
990
+ 168.92144315253228,
991
+ 70.1407321337856,
992
+ 88.80811647147846
993
+ ]
994
+ },
995
+ "obb": {
996
+ "center": [
997
+ -384.71616552117706,
998
+ -789.422156409466,
999
+ 545.0371241461015
1000
+ ],
1001
+ "extent": [
1002
+ 168.92144315253228,
1003
+ 70.1407321337856,
1004
+ 88.80811647147846
1005
+ ],
1006
+ "rotation": [
1007
+ 0.007890922360343958,
1008
+ -20.58249103964926,
1009
+ 1.3072029230361613
1010
+ ]
1011
+ },
1012
+ "location": [
1013
+ -383.3633926958175,
1014
+ -785.8251142028387,
1015
+ 544.9494309980133
1016
+ ],
1017
+ "rotation": [
1018
+ 0.007890922360343958,
1019
+ -20.58249103964926,
1020
+ 1.3072029230361613
1021
+ ],
1022
+ "scale": [
1023
+ 1.1821715831756592,
1024
+ 1.1821715831756592,
1025
+ 1.1821715831756592
1026
+ ]
1027
+ },
1028
+ "color": [
1029
+ 191,
1030
+ 127,
1031
+ 127
1032
+ ]
1033
+ },
1034
+ {
1035
+ "object_id": "SM_AI_vol12_02_Image_4_1",
1036
+ "bbox_2d": [
1037
+ 759,
1038
+ 388,
1039
+ 848,
1040
+ 662
1041
+ ],
1042
+ "bbox_3d": {
1043
+ "aabb": {
1044
+ "center": [
1045
+ -615.0359013166261,
1046
+ -421.9608461045612,
1047
+ 532.6706221044617
1048
+ ],
1049
+ "extent": [
1050
+ 70.22006222017069,
1051
+ 125.41638675898008,
1052
+ 81.6753834958937
1053
+ ]
1054
+ },
1055
+ "obb": {
1056
+ "center": [
1057
+ -615.0359013166261,
1058
+ -421.9608461045612,
1059
+ 532.6706221044617
1060
+ ],
1061
+ "extent": [
1062
+ 70.22006222017069,
1063
+ 125.41638675898008,
1064
+ 81.6753834958937
1065
+ ],
1066
+ "rotation": [
1067
+ 0.40646707108773616,
1068
+ -117.45512792778507,
1069
+ 1.2406460066726135
1070
+ ]
1071
+ },
1072
+ "location": [
1073
+ -611.4749902989585,
1074
+ -423.81174101438467,
1075
+ 532.583711432499
1076
+ ],
1077
+ "rotation": [
1078
+ 0.40646707108773616,
1079
+ -117.45512792778507,
1080
+ 1.2406460066726135
1081
+ ],
1082
+ "scale": [
1083
+ 1.1678799390792847,
1084
+ 1.1678799390792847,
1085
+ 1.1678799390792847
1086
+ ]
1087
+ },
1088
+ "color": [
1089
+ 191,
1090
+ 63,
1091
+ 255
1092
+ ]
1093
+ },
1094
+ {
1095
+ "object_id": "SM_AI_vol12_02_Image_5_1",
1096
+ "bbox_2d": [
1097
+ 1747,
1098
+ 436,
1099
+ 1919,
1100
+ 601
1101
+ ],
1102
+ "bbox_3d": {
1103
+ "aabb": {
1104
+ "center": [
1105
+ 125.82288900531462,
1106
+ -927.2432957813853,
1107
+ 542.2026911411142
1108
+ ],
1109
+ "extent": [
1110
+ 124.99209902213336,
1111
+ 17.166647818014212,
1112
+ 69.08589758662632
1113
+ ]
1114
+ },
1115
+ "obb": {
1116
+ "center": [
1117
+ 125.82288900531462,
1118
+ -927.2432957813853,
1119
+ 542.2026911411142
1120
+ ],
1121
+ "extent": [
1122
+ 124.99209902213336,
1123
+ 17.166647818014212,
1124
+ 69.08589758662632
1125
+ ],
1126
+ "rotation": [
1127
+ 1.2424041724466862e-17,
1128
+ -4.67383473018151,
1129
+ 0.7026667060359305
1130
+ ]
1131
+ },
1132
+ "location": [
1133
+ 126.25889584774549,
1134
+ -921.9101260497847,
1135
+ 542.1370644606101
1136
+ ],
1137
+ "rotation": [
1138
+ 1.2424041724466862e-17,
1139
+ -4.67383473018151,
1140
+ 0.7026667060359305
1141
+ ],
1142
+ "scale": [
1143
+ 1,
1144
+ 1.5324999657459557,
1145
+ 1
1146
+ ]
1147
+ },
1148
+ "color": [
1149
+ 191,
1150
+ 63,
1151
+ 127
1152
+ ]
1153
+ }
1154
+ ]
1155
+ }
1156
+ }
scenes/annotations/AIUE5_vol12_02/l050_off2_r004/scene_annotations_split.json ADDED
@@ -0,0 +1,1218 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l050_off2_r004",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l050_off2_r004/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -17,
8
+ 177,
9
+ 553
10
+ ],
11
+ "rotation": [
12
+ 0,
13
+ -120.00000000000007,
14
+ 0
15
+ ],
16
+ "fov": 90,
17
+ "c2w": [
18
+ [
19
+ -0.5000000000000007,
20
+ -0.8660254037844379,
21
+ 0,
22
+ 0
23
+ ],
24
+ [
25
+ 0.8660254037844379,
26
+ -0.5000000000000007,
27
+ 0,
28
+ 0
29
+ ],
30
+ [
31
+ 0,
32
+ 0,
33
+ 1,
34
+ 0
35
+ ],
36
+ [
37
+ -17,
38
+ 177,
39
+ 553,
40
+ 1
41
+ ]
42
+ ],
43
+ "width": 1920,
44
+ "height": 1080,
45
+ "fxfycxcy": [
46
+ 960.0000000000001,
47
+ 960.0000000000002,
48
+ 960.0,
49
+ 540.0
50
+ ]
51
+ },
52
+ "background": {
53
+ "ceiling": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Ceiling_6_1",
56
+ "bbox_2d": [
57
+ 771,
58
+ 138,
59
+ 1133,
60
+ 339
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -404.05967418246996,
66
+ -716.3239847412109,
67
+ 887.444958618164
68
+ ],
69
+ "extent": [
70
+ 372.09881591796875,
71
+ 219.1094207763672,
72
+ 105.74501037597656
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -404.05967418246996,
78
+ -716.3239847412109,
79
+ 887.444958618164
80
+ ],
81
+ "extent": [
82
+ 372.09881591796875,
83
+ 219.1094207763672,
84
+ 105.74501037597656
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -404.27541820102465,
94
+ -716.324,
95
+ 781.828
96
+ ],
97
+ "rotation": [
98
+ 0,
99
+ 0,
100
+ 0
101
+ ],
102
+ "scale": [
103
+ 1,
104
+ 1,
105
+ 1
106
+ ]
107
+ },
108
+ "color": [
109
+ 0,
110
+ 0,
111
+ 127
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Ceiling_7_1",
116
+ "bbox_2d": [
117
+ 466,
118
+ 49,
119
+ 1004,
120
+ 368
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ -482.9028309207513,
126
+ -380.7269847412109,
127
+ 814.088105834961
128
+ ],
129
+ "extent": [
130
+ 293.25537109375,
131
+ 291.9927978515625,
132
+ 179.09910583496094
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ -482.9028309207513,
138
+ -380.7269847412109,
139
+ 814.088105834961
140
+ ],
141
+ "extent": [
142
+ 293.25537109375,
143
+ 291.9927978515625,
144
+ 179.09910583496094
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ -483.07041820102467,
154
+ -380.727,
155
+ 634.989
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 0,
170
+ 255,
171
+ 127
172
+ ]
173
+ },
174
+ {
175
+ "object_id": "SM_AI_vol12_02_Ceiling_8_1",
176
+ "bbox_2d": [
177
+ 200,
178
+ 0,
179
+ 866,
180
+ 367
181
+ ],
182
+ "bbox_3d": {
183
+ "aabb": {
184
+ "center": [
185
+ -220.91700762939456,
186
+ 107.85474865722655,
187
+ 805.9363876953125
188
+ ],
189
+ "extent": [
190
+ 251.57647705078125,
191
+ 268.6739501953125,
192
+ 171.050048828125
193
+ ]
194
+ },
195
+ "obb": {
196
+ "center": [
197
+ -220.91700762939456,
198
+ 107.85474865722657,
199
+ 805.9363876953125
200
+ ],
201
+ "extent": [
202
+ 251.57647705078125,
203
+ 268.6739501953125,
204
+ 171.050048828125
205
+ ],
206
+ "rotation": [
207
+ 0,
208
+ 0,
209
+ 0
210
+ ]
211
+ },
212
+ "location": [
213
+ -220.917,
214
+ 108.078,
215
+ 634.989
216
+ ],
217
+ "rotation": [
218
+ 0,
219
+ 0,
220
+ 0
221
+ ],
222
+ "scale": [
223
+ 1,
224
+ 1,
225
+ 1
226
+ ]
227
+ },
228
+ "color": [
229
+ 255,
230
+ 0,
231
+ 127
232
+ ]
233
+ }
234
+ ],
235
+ "floor": [
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
238
+ "bbox_2d": [
239
+ 290,
240
+ 676,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ -109.43883007812497,
248
+ -305.40692504882804,
249
+ 381.5008540039062
250
+ ],
251
+ "extent": [
252
+ 632.2734375,
253
+ 649.2933349609375,
254
+ 17.98785400390625
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ -109.43883007812497,
260
+ -305.40692504882804,
261
+ 381.5008540039062
262
+ ],
263
+ "extent": [
264
+ 632.2734375,
265
+ 649.2933349609375,
266
+ 17.98785400390625
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ -107.713,
276
+ -305.84,
277
+ 363.513
278
+ ],
279
+ "rotation": [
280
+ 0,
281
+ 0,
282
+ 0
283
+ ],
284
+ "scale": [
285
+ 1,
286
+ 1,
287
+ 1
288
+ ]
289
+ },
290
+ "color": [
291
+ 255,
292
+ 255,
293
+ 127
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
298
+ "bbox_2d": [
299
+ 728,
300
+ 706,
301
+ 1919,
302
+ 1000
303
+ ],
304
+ "bbox_3d": {
305
+ "aabb": {
306
+ "center": [
307
+ 15.152699999999982,
308
+ -467.03198474121086,
309
+ 399.3307082519531
310
+ ],
311
+ "extent": [
312
+ 390.8625183105469,
313
+ 373.12469482421875,
314
+ 0.169708251953125
315
+ ]
316
+ },
317
+ "obb": {
318
+ "center": [
319
+ 15.152699999999982,
320
+ -467.03198474121086,
321
+ 399.3307082519531
322
+ ],
323
+ "extent": [
324
+ 390.8625183105469,
325
+ 373.12469482421875,
326
+ 0.169708251953125
327
+ ],
328
+ "rotation": [
329
+ 0,
330
+ 0,
331
+ 0
332
+ ]
333
+ },
334
+ "location": [
335
+ 15.1527,
336
+ -467.032,
337
+ 399.161
338
+ ],
339
+ "rotation": [
340
+ 0,
341
+ 0,
342
+ 0
343
+ ],
344
+ "scale": [
345
+ 1,
346
+ 1,
347
+ 1
348
+ ]
349
+ },
350
+ "color": [
351
+ 0,
352
+ 63,
353
+ 0
354
+ ]
355
+ }
356
+ ],
357
+ "wall": [
358
+ {
359
+ "object_id": "SM_AI_vol12_02_Wall_13_1",
360
+ "bbox_2d": [
361
+ 1450,
362
+ 550,
363
+ 1919,
364
+ 720
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 234.64462916432342,
370
+ -947.386,
371
+ 585.7877158203125
372
+ ],
373
+ "extent": [
374
+ 312.718505859375,
375
+ 36.62384033203125,
376
+ 196.0587158203125
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 234.64462916432345,
382
+ -947.386,
383
+ 585.7877158203125
384
+ ],
385
+ "extent": [
386
+ 312.718505859375,
387
+ 36.62384033203125,
388
+ 196.0587158203125
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 234.64462916432345,
398
+ -947.386,
399
+ 389.729
400
+ ],
401
+ "rotation": [
402
+ 0,
403
+ 0,
404
+ 0
405
+ ],
406
+ "scale": [
407
+ 1,
408
+ 1,
409
+ 1
410
+ ]
411
+ },
412
+ "color": [
413
+ 127,
414
+ 127,
415
+ 0
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_14_1",
420
+ "bbox_2d": [
421
+ 770,
422
+ 326,
423
+ 1449,
424
+ 691
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ -424.933,
430
+ -799.094,
431
+ 585.79394140625
432
+ ],
433
+ "extent": [
434
+ 352.08929443359375,
435
+ 136.33853149414062,
436
+ 196.06494140625
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ -424.933,
442
+ -799.094,
443
+ 585.79394140625
444
+ ],
445
+ "extent": [
446
+ 352.08929443359375,
447
+ 136.33853149414062,
448
+ 196.06494140625
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ -424.933,
458
+ -799.094,
459
+ 389.729
460
+ ],
461
+ "rotation": [
462
+ 0,
463
+ 0,
464
+ 0
465
+ ],
466
+ "scale": [
467
+ 1,
468
+ 1,
469
+ 1
470
+ ]
471
+ },
472
+ "color": [
473
+ 127,
474
+ 127,
475
+ 255
476
+ ]
477
+ },
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Wall_15_1",
480
+ "bbox_2d": [
481
+ 467,
482
+ 340,
483
+ 770,
484
+ 859
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ -614.4759847412109,
490
+ -380.7269847412109,
491
+ 585.79394140625
492
+ ],
493
+ "extent": [
494
+ 162.5470733642578,
495
+ 291.9927978515625,
496
+ 196.06494140625
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ -614.4759847412109,
502
+ -380.7269847412109,
503
+ 585.79394140625
504
+ ],
505
+ "extent": [
506
+ 162.5470733642578,
507
+ 291.9927978515625,
508
+ 196.06494140625
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ -614.476,
518
+ -380.727,
519
+ 389.729
520
+ ],
521
+ "rotation": [
522
+ 0,
523
+ 0,
524
+ 0
525
+ ],
526
+ "scale": [
527
+ 1,
528
+ 1,
529
+ 1
530
+ ]
531
+ },
532
+ "color": [
533
+ 127,
534
+ 127,
535
+ 127
536
+ ]
537
+ },
538
+ {
539
+ "object_id": "SM_AI_vol12_02_Wall_16_1",
540
+ "bbox_2d": [
541
+ 0,
542
+ 0,
543
+ 466,
544
+ 1079
545
+ ],
546
+ "bbox_3d": {
547
+ "aabb": {
548
+ "center": [
549
+ -250.46037083567654,
550
+ 136.49199999999996,
551
+ 583.4498251953125
552
+ ],
553
+ "extent": [
554
+ 221.8224639892578,
555
+ 240.0364990234375,
556
+ 193.7208251953125
557
+ ]
558
+ },
559
+ "obb": {
560
+ "center": [
561
+ -250.46037083567654,
562
+ 136.492,
563
+ 583.4498251953125
564
+ ],
565
+ "extent": [
566
+ 221.8224639892578,
567
+ 240.0364990234375,
568
+ 193.7208251953125
569
+ ],
570
+ "rotation": [
571
+ 0,
572
+ 0,
573
+ 0
574
+ ]
575
+ },
576
+ "location": [
577
+ -250.46037083567654,
578
+ 136.492,
579
+ 389.729
580
+ ],
581
+ "rotation": [
582
+ 0,
583
+ 0,
584
+ 0
585
+ ],
586
+ "scale": [
587
+ 1,
588
+ 1,
589
+ 1
590
+ ]
591
+ },
592
+ "color": [
593
+ 0,
594
+ 0,
595
+ 63
596
+ ]
597
+ }
598
+ ],
599
+ "ceiling windows": [
600
+ {
601
+ "object_id": "SM_AI_vol12_02_Ceiling_Windows_glass_1_1",
602
+ "bbox_2d": [
603
+ 813,
604
+ 0,
605
+ 914,
606
+ 65
607
+ ],
608
+ "bbox_3d": {
609
+ "aabb": {
610
+ "center": [
611
+ 1.1781617871093886,
612
+ -446.97622119140624,
613
+ 905.9174248046875
614
+ ],
615
+ "extent": [
616
+ 365.17840576171875,
617
+ 325.3132629394531,
618
+ 168.6424560546875
619
+ ]
620
+ },
621
+ "obb": {
622
+ "center": [
623
+ 1.1781617871093886,
624
+ -446.97622119140624,
625
+ 905.9174248046875
626
+ ],
627
+ "extent": [
628
+ 365.17840576171875,
629
+ 325.3132629394531,
630
+ 168.6424560546875
631
+ ],
632
+ "rotation": [
633
+ 0,
634
+ 0,
635
+ 0
636
+ ]
637
+ },
638
+ "location": [
639
+ 0.18808,
640
+ -448.462,
641
+ 732.982
642
+ ],
643
+ "rotation": [
644
+ 0,
645
+ 0,
646
+ 0
647
+ ],
648
+ "scale": [
649
+ 1,
650
+ 1,
651
+ 1
652
+ ]
653
+ },
654
+ "color": [
655
+ 255,
656
+ 255,
657
+ 63
658
+ ]
659
+ }
660
+ ],
661
+ "floor glass": [
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
664
+ "bbox_2d": [
665
+ 1121,
666
+ 757,
667
+ 1919,
668
+ 1023
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ 12.276647143554683,
674
+ -409.4788231201171,
675
+ 399.4571883544922
676
+ ],
677
+ "extent": [
678
+ 250.27244567871094,
679
+ 216.33436584472653,
680
+ 0.0432586669921875
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ 12.276647143554698,
686
+ -409.4788231201171,
687
+ 399.4571883544922
688
+ ],
689
+ "extent": [
690
+ 250.27244567871094,
691
+ 216.33436584472653,
692
+ 0.0432586669921875
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ 15.1527,
702
+ -467.032,
703
+ 399.161
704
+ ],
705
+ "rotation": [
706
+ 0,
707
+ 0,
708
+ 0
709
+ ],
710
+ "scale": [
711
+ 1,
712
+ 1,
713
+ 1
714
+ ]
715
+ },
716
+ "color": [
717
+ 127,
718
+ 0,
719
+ 63
720
+ ]
721
+ }
722
+ ],
723
+ "ceiling construction": [
724
+ {
725
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_2_1",
726
+ "bbox_2d": [
727
+ 702,
728
+ 0,
729
+ 977,
730
+ 201
731
+ ],
732
+ "bbox_3d": {
733
+ "aabb": {
734
+ "center": [
735
+ 1.2842699999999923,
736
+ -446.86699999999996,
737
+ 891.0819011230469
738
+ ],
739
+ "extent": [
740
+ 371.54345703125,
741
+ 332.81573486328125,
742
+ 183.67996215820312
743
+ ]
744
+ },
745
+ "obb": {
746
+ "center": [
747
+ 1.2842699999999923,
748
+ -446.86699999999996,
749
+ 891.0819011230469
750
+ ],
751
+ "extent": [
752
+ 371.54345703125,
753
+ 332.81573486328125,
754
+ 183.67996215820312
755
+ ],
756
+ "rotation": [
757
+ 0,
758
+ 0,
759
+ 0
760
+ ]
761
+ },
762
+ "location": [
763
+ 1.28427,
764
+ -446.867,
765
+ 707.402
766
+ ],
767
+ "rotation": [
768
+ 0,
769
+ 0,
770
+ 0
771
+ ],
772
+ "scale": [
773
+ 1,
774
+ 1,
775
+ 1
776
+ ]
777
+ },
778
+ "color": [
779
+ 127,
780
+ 255,
781
+ 63
782
+ ]
783
+ }
784
+ ],
785
+ "stairs": [
786
+ {
787
+ "object_id": "SM_AI_vol12_02_Stairs_1_1",
788
+ "bbox_2d": [
789
+ 562,
790
+ 781,
791
+ 912,
792
+ 1079
793
+ ],
794
+ "bbox_3d": {
795
+ "aabb": {
796
+ "center": [
797
+ -80.33650762939453,
798
+ 44.849199999999996,
799
+ 249.99920270996097
800
+ ],
801
+ "extent": [
802
+ 193.55096435546875,
803
+ 152.25680541992188,
804
+ 220.00340270996094
805
+ ]
806
+ },
807
+ "obb": {
808
+ "center": [
809
+ -80.33650762939453,
810
+ 44.849199999999996,
811
+ 249.99920270996094
812
+ ],
813
+ "extent": [
814
+ 193.55096435546875,
815
+ 152.25680541992188,
816
+ 220.00340270996094
817
+ ],
818
+ "rotation": [
819
+ 0,
820
+ 0,
821
+ 0
822
+ ]
823
+ },
824
+ "location": [
825
+ -80.3365,
826
+ 44.8492,
827
+ 29.9958
828
+ ],
829
+ "rotation": [
830
+ 0,
831
+ 0,
832
+ 0
833
+ ],
834
+ "scale": [
835
+ 1,
836
+ 1,
837
+ 1
838
+ ]
839
+ },
840
+ "color": [
841
+ 127,
842
+ 127,
843
+ 63
844
+ ]
845
+ }
846
+ ],
847
+ "window": [
848
+ {
849
+ "object_id": "SM_AI_vol12_02_Window_6_1",
850
+ "bbox_2d": [
851
+ 770,
852
+ 485,
853
+ 784,
854
+ 677
855
+ ],
856
+ "bbox_3d": {
857
+ "aabb": {
858
+ "center": [
859
+ -713.3179209289551,
860
+ -628.0548697814942,
861
+ 386.14321508789067
862
+ ],
863
+ "extent": [
864
+ 61.848880767822266,
865
+ 55.13796615600586,
866
+ 355.4439392089844
867
+ ]
868
+ },
869
+ "obb": {
870
+ "center": [
871
+ -713.3179209289551,
872
+ -628.0548697814942,
873
+ 386.1432150878906
874
+ ],
875
+ "extent": [
876
+ 61.848880767822266,
877
+ 55.13796615600586,
878
+ 355.4439392089844
879
+ ],
880
+ "rotation": [
881
+ 0,
882
+ 0,
883
+ 0
884
+ ]
885
+ },
886
+ "location": [
887
+ -713.306,
888
+ -628.186,
889
+ 29.729
890
+ ],
891
+ "rotation": [
892
+ 0,
893
+ 0,
894
+ 0
895
+ ],
896
+ "scale": [
897
+ 1,
898
+ 1,
899
+ 1
900
+ ]
901
+ },
902
+ "color": [
903
+ 127,
904
+ 63,
905
+ 0
906
+ ]
907
+ }
908
+ ],
909
+ "window glass": [
910
+ {
911
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
912
+ "bbox_2d": [
913
+ 770,
914
+ 502,
915
+ 782,
916
+ 673
917
+ ],
918
+ "bbox_3d": {
919
+ "aabb": {
920
+ "center": [
921
+ -713.5362570343018,
922
+ -627.9010802612305,
923
+ 386.2503317871094
924
+ ],
925
+ "extent": [
926
+ 60.059295654296875,
927
+ 52.93374252319336,
928
+ 353.8716735839844
929
+ ]
930
+ },
931
+ "obb": {
932
+ "center": [
933
+ -713.5362570343018,
934
+ -627.9010802612305,
935
+ 386.25033178710936
936
+ ],
937
+ "extent": [
938
+ 60.059295654296875,
939
+ 52.93374252319336,
940
+ 353.8716735839844
941
+ ],
942
+ "rotation": [
943
+ 0,
944
+ 0,
945
+ 0
946
+ ]
947
+ },
948
+ "location": [
949
+ -713.306,
950
+ -628.186,
951
+ 29.729
952
+ ],
953
+ "rotation": [
954
+ 0,
955
+ 0,
956
+ 0
957
+ ],
958
+ "scale": [
959
+ 1,
960
+ 1,
961
+ 1
962
+ ]
963
+ },
964
+ "color": [
965
+ 63,
966
+ 0,
967
+ 255
968
+ ]
969
+ }
970
+ ],
971
+ "ceiling box": [
972
+ {
973
+ "object_id": "SM_AI_vol12_02_Ceiling_Box_1_1",
974
+ "bbox_2d": [
975
+ 942,
976
+ 0,
977
+ 1919,
978
+ 601
979
+ ],
980
+ "bbox_3d": {
981
+ "aabb": {
982
+ "center": [
983
+ 2.5983100000000263,
984
+ -409.323,
985
+ 760.3711724853515
986
+ ],
987
+ "extent": [
988
+ 260.15771484375,
989
+ 228.5609130859375,
990
+ 245.18885803222656
991
+ ]
992
+ },
993
+ "obb": {
994
+ "center": [
995
+ 2.5983100000000263,
996
+ -409.323,
997
+ 760.3711724853515
998
+ ],
999
+ "extent": [
1000
+ 260.15771484375,
1001
+ 228.5609130859375,
1002
+ 245.18885803222656
1003
+ ],
1004
+ "rotation": [
1005
+ 0,
1006
+ 0,
1007
+ 0
1008
+ ]
1009
+ },
1010
+ "location": [
1011
+ 2.59831,
1012
+ -409.323,
1013
+ 1005.56
1014
+ ],
1015
+ "rotation": [
1016
+ 0,
1017
+ 0,
1018
+ 0
1019
+ ],
1020
+ "scale": [
1021
+ 1,
1022
+ 1,
1023
+ 1
1024
+ ]
1025
+ },
1026
+ "color": [
1027
+ 63,
1028
+ 255,
1029
+ 255
1030
+ ]
1031
+ }
1032
+ ]
1033
+ },
1034
+ "foreground": {
1035
+ "image": [
1036
+ {
1037
+ "object_id": "SM_AI_vol12_02_Image_1_1",
1038
+ "bbox_2d": [
1039
+ 950,
1040
+ 462,
1041
+ 1289,
1042
+ 633
1043
+ ],
1044
+ "bbox_3d": {
1045
+ "aabb": {
1046
+ "center": [
1047
+ -384.71616552117706,
1048
+ -789.422156409466,
1049
+ 545.0371241461015
1050
+ ],
1051
+ "extent": [
1052
+ 168.92144315253228,
1053
+ 70.1407321337856,
1054
+ 88.80811647147846
1055
+ ]
1056
+ },
1057
+ "obb": {
1058
+ "center": [
1059
+ -384.71616552117706,
1060
+ -789.422156409466,
1061
+ 545.0371241461015
1062
+ ],
1063
+ "extent": [
1064
+ 168.92144315253228,
1065
+ 70.1407321337856,
1066
+ 88.80811647147846
1067
+ ],
1068
+ "rotation": [
1069
+ 0.007890922360343958,
1070
+ -20.58249103964926,
1071
+ 1.3072029230361613
1072
+ ]
1073
+ },
1074
+ "location": [
1075
+ -383.3633926958175,
1076
+ -785.8251142028387,
1077
+ 544.9494309980133
1078
+ ],
1079
+ "rotation": [
1080
+ 0.007890922360343958,
1081
+ -20.58249103964926,
1082
+ 1.3072029230361613
1083
+ ],
1084
+ "scale": [
1085
+ 1.1821715831756592,
1086
+ 1.1821715831756592,
1087
+ 1.1821715831756592
1088
+ ]
1089
+ },
1090
+ "color": [
1091
+ 191,
1092
+ 127,
1093
+ 127
1094
+ ]
1095
+ },
1096
+ {
1097
+ "object_id": "SM_AI_vol12_02_Image_4_1",
1098
+ "bbox_2d": [
1099
+ 641,
1100
+ 456,
1101
+ 752,
1102
+ 683
1103
+ ],
1104
+ "bbox_3d": {
1105
+ "aabb": {
1106
+ "center": [
1107
+ -615.0359013166261,
1108
+ -421.9608461045612,
1109
+ 532.6706221044617
1110
+ ],
1111
+ "extent": [
1112
+ 70.22006222017069,
1113
+ 125.41638675898008,
1114
+ 81.6753834958937
1115
+ ]
1116
+ },
1117
+ "obb": {
1118
+ "center": [
1119
+ -615.0359013166261,
1120
+ -421.9608461045612,
1121
+ 532.6706221044617
1122
+ ],
1123
+ "extent": [
1124
+ 70.22006222017069,
1125
+ 125.41638675898008,
1126
+ 81.6753834958937
1127
+ ],
1128
+ "rotation": [
1129
+ 0.40646707108773616,
1130
+ -117.45512792778507,
1131
+ 1.2406460066726135
1132
+ ]
1133
+ },
1134
+ "location": [
1135
+ -611.4749902989585,
1136
+ -423.81174101438467,
1137
+ 532.583711432499
1138
+ ],
1139
+ "rotation": [
1140
+ 0.40646707108773616,
1141
+ -117.45512792778507,
1142
+ 1.2406460066726135
1143
+ ],
1144
+ "scale": [
1145
+ 1.1678799390792847,
1146
+ 1.1678799390792847,
1147
+ 1.1678799390792847
1148
+ ]
1149
+ },
1150
+ "color": [
1151
+ 191,
1152
+ 63,
1153
+ 255
1154
+ ]
1155
+ },
1156
+ {
1157
+ "object_id": "SM_AI_vol12_02_Image_5_1",
1158
+ "bbox_2d": [
1159
+ 1536,
1160
+ 564,
1161
+ 1872,
1162
+ 632
1163
+ ],
1164
+ "bbox_3d": {
1165
+ "aabb": {
1166
+ "center": [
1167
+ 125.82288900531462,
1168
+ -927.2432957813853,
1169
+ 542.2026911411142
1170
+ ],
1171
+ "extent": [
1172
+ 124.99209902213336,
1173
+ 17.166647818014212,
1174
+ 69.08589758662632
1175
+ ]
1176
+ },
1177
+ "obb": {
1178
+ "center": [
1179
+ 125.82288900531462,
1180
+ -927.2432957813853,
1181
+ 542.2026911411142
1182
+ ],
1183
+ "extent": [
1184
+ 124.99209902213336,
1185
+ 17.166647818014212,
1186
+ 69.08589758662632
1187
+ ],
1188
+ "rotation": [
1189
+ 1.2424041724466862e-17,
1190
+ -4.67383473018151,
1191
+ 0.7026667060359305
1192
+ ]
1193
+ },
1194
+ "location": [
1195
+ 126.25889584774549,
1196
+ -921.9101260497847,
1197
+ 542.1370644606101
1198
+ ],
1199
+ "rotation": [
1200
+ 1.2424041724466862e-17,
1201
+ -4.67383473018151,
1202
+ 0.7026667060359305
1203
+ ],
1204
+ "scale": [
1205
+ 1,
1206
+ 1.5324999657459557,
1207
+ 1
1208
+ ]
1209
+ },
1210
+ "color": [
1211
+ 191,
1212
+ 63,
1213
+ 127
1214
+ ]
1215
+ }
1216
+ ]
1217
+ }
1218
+ }