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
52ade07
·
verified ·
1 Parent(s): dac11c0

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. scenes/annotations/AIUE5_vol12_02/l001_off2_r003/scene_annotations_split.json +974 -0
  2. scenes/annotations/AIUE5_vol12_02/l003_off1_r002/scene_annotations_split.json +1582 -0
  3. scenes/annotations/AIUE5_vol12_02/l006_off2_r004/scene_annotations_split.json +848 -0
  4. scenes/annotations/AIUE5_vol12_02/l012_off2_r001/scene_annotations_split.json +910 -0
  5. scenes/annotations/AIUE5_vol12_02/l014_off0_r003/scene_annotations_split.json +850 -0
  6. scenes/annotations/AIUE5_vol12_02/l019_off1_r003/scene_annotations_split.json +1092 -0
  7. scenes/annotations/AIUE5_vol12_02/l021_off0_r005/scene_annotations_split.json +912 -0
  8. scenes/annotations/AIUE5_vol12_02/l022_off1_r001/scene_annotations_split.json +1522 -0
  9. scenes/annotations/AIUE5_vol12_02/l029_off2_r003/scene_annotations_split.json +974 -0
  10. scenes/annotations/AIUE5_vol12_02/l031_off1_r003/scene_annotations_split.json +1158 -0
  11. scenes/annotations/AIUE5_vol12_02/l034_off2_r005/scene_annotations_split.json +912 -0
  12. scenes/annotations/AIUE5_vol12_02/l035_off0_r000/scene_annotations_split.json +854 -0
  13. scenes/annotations/AIUE5_vol12_02/l038_off1_r000/scene_annotations_split.json +666 -0
  14. scenes/annotations/AIUE5_vol12_02/l040_off1_r004/scene_annotations_split.json +362 -0
  15. scenes/annotations/AIUE5_vol12_02/l042_off2_r005/scene_annotations_split.json +1156 -0
  16. scenes/annotations/AIUE5_vol12_02/l043_off0_r000/scene_annotations_split.json +854 -0
  17. scenes/annotations/AIUE5_vol12_02/l045_off2_r002/scene_annotations_split.json +1644 -0
  18. scenes/annotations/AIUE5_vol12_02/l047_off1_r003/scene_annotations_split.json +728 -0
  19. scenes/annotations/AIUE5_vol12_02/l054_off1_r001/scene_annotations_split.json +974 -0
  20. scenes/annotations/AIUE5_vol12_02/l058_off2_r004/scene_annotations_split.json +608 -0
scenes/annotations/AIUE5_vol12_02/l001_off2_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,974 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l001_off2_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l001_off2_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 341,
8
+ -267,
9
+ 351
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
+ 341,
38
+ -267,
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
+ 0,
59
+ 1919,
60
+ 528
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
+ 489,
118
+ 844,
119
+ 1867,
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
+ 1373,
178
+ 148,
179
+ 1919,
180
+ 453
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_6_1",
238
+ "bbox_2d": [
239
+ 1319,
240
+ 527,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ -409.973015258789,
248
+ -793.6599847412109,
249
+ 210.4554709472656
250
+ ],
251
+ "extent": [
252
+ 337.53466796875,
253
+ 141.4675750732422,
254
+ 180.72647094726562
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ -409.973015258789,
260
+ -793.6599847412109,
261
+ 210.4554709472656
262
+ ],
263
+ "extent": [
264
+ 337.53466796875,
265
+ 141.4675750732422,
266
+ 180.72647094726562
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ -409.973,
276
+ -793.66,
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
+ 127
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_7_1",
298
+ "bbox_2d": [
299
+ 762,
300
+ 525,
301
+ 1294,
302
+ 935
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
+ 0,
360
+ 516,
361
+ 759,
362
+ 1078
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
+ 362,
422
+ 198,
423
+ 1919,
424
+ 751
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
+ 1156,
484
+ 233,
485
+ 1566,
486
+ 370
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
+ 0,
546
+ 507,
547
+ 611,
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_6_1",
606
+ "bbox_2d": [
607
+ 1268,
608
+ 842,
609
+ 1336,
610
+ 848
611
+ ],
612
+ "bbox_3d": {
613
+ "aabb": {
614
+ "center": [
615
+ -713.3179209289551,
616
+ -628.0548697814942,
617
+ 386.14321508789067
618
+ ],
619
+ "extent": [
620
+ 61.848880767822266,
621
+ 55.13796615600586,
622
+ 355.4439392089844
623
+ ]
624
+ },
625
+ "obb": {
626
+ "center": [
627
+ -713.3179209289551,
628
+ -628.0548697814942,
629
+ 386.1432150878906
630
+ ],
631
+ "extent": [
632
+ 61.848880767822266,
633
+ 55.13796615600586,
634
+ 355.4439392089844
635
+ ],
636
+ "rotation": [
637
+ 0,
638
+ 0,
639
+ 0
640
+ ]
641
+ },
642
+ "location": [
643
+ -713.306,
644
+ -628.186,
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
+ 127,
660
+ 63,
661
+ 0
662
+ ]
663
+ },
664
+ {
665
+ "object_id": "SM_AI_vol12_02_Window_7_1",
666
+ "bbox_2d": [
667
+ 739,
668
+ 525,
669
+ 828,
670
+ 952
671
+ ],
672
+ "bbox_3d": {
673
+ "aabb": {
674
+ "center": [
675
+ -429.77315234375,
676
+ -120.02817706298828,
677
+ 202.49139013671873
678
+ ],
679
+ "extent": [
680
+ 35.68157958984375,
681
+ 39.985801696777344,
682
+ 171.5279541015625
683
+ ]
684
+ },
685
+ "obb": {
686
+ "center": [
687
+ -429.77315234375,
688
+ -120.02817706298828,
689
+ 202.49139013671873
690
+ ],
691
+ "extent": [
692
+ 35.68157958984375,
693
+ 39.985801696777344,
694
+ 171.5279541015625
695
+ ],
696
+ "rotation": [
697
+ 0,
698
+ 0,
699
+ 0
700
+ ]
701
+ },
702
+ "location": [
703
+ -429.592,
704
+ -117.767,
705
+ 29.729
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
+ 255
722
+ ]
723
+ }
724
+ ],
725
+ "window glass": [
726
+ {
727
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
728
+ "bbox_2d": [
729
+ 1268,
730
+ 529,
731
+ 1336,
732
+ 845
733
+ ],
734
+ "bbox_3d": {
735
+ "aabb": {
736
+ "center": [
737
+ -713.5362570343018,
738
+ -627.9010802612305,
739
+ 386.2503317871094
740
+ ],
741
+ "extent": [
742
+ 60.059295654296875,
743
+ 52.93374252319336,
744
+ 353.8716735839844
745
+ ]
746
+ },
747
+ "obb": {
748
+ "center": [
749
+ -713.5362570343018,
750
+ -627.9010802612305,
751
+ 386.25033178710936
752
+ ],
753
+ "extent": [
754
+ 60.059295654296875,
755
+ 52.93374252319336,
756
+ 353.8716735839844
757
+ ],
758
+ "rotation": [
759
+ 0,
760
+ 0,
761
+ 0
762
+ ]
763
+ },
764
+ "location": [
765
+ -713.306,
766
+ -628.186,
767
+ 29.729
768
+ ],
769
+ "rotation": [
770
+ 0,
771
+ 0,
772
+ 0
773
+ ],
774
+ "scale": [
775
+ 1,
776
+ 1,
777
+ 1
778
+ ]
779
+ },
780
+ "color": [
781
+ 63,
782
+ 0,
783
+ 255
784
+ ]
785
+ },
786
+ {
787
+ "object_id": "SM_AI_vol12_02_Window_glass_7_1",
788
+ "bbox_2d": [
789
+ 736,
790
+ 534,
791
+ 826,
792
+ 948
793
+ ],
794
+ "bbox_3d": {
795
+ "aabb": {
796
+ "center": [
797
+ -429.7319993896484,
798
+ -120.46578387451171,
799
+ 202.2577628173828
800
+ ],
801
+ "extent": [
802
+ 33.27091979980469,
803
+ 37.76592254638672,
804
+ 170.1311492919922
805
+ ]
806
+ },
807
+ "obb": {
808
+ "center": [
809
+ -429.7319993896484,
810
+ -120.46578387451171,
811
+ 202.2577628173828
812
+ ],
813
+ "extent": [
814
+ 33.27091979980469,
815
+ 37.76592254638672,
816
+ 170.1311492919922
817
+ ],
818
+ "rotation": [
819
+ 0,
820
+ 0,
821
+ 0
822
+ ]
823
+ },
824
+ "location": [
825
+ -429.592,
826
+ -117.767,
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
+ 63,
842
+ 0,
843
+ 127
844
+ ]
845
+ }
846
+ ]
847
+ },
848
+ "foreground": {
849
+ "halogen": [
850
+ {
851
+ "object_id": "SM_AI_vol12_02_halogen_1_1",
852
+ "bbox_2d": [
853
+ 909,
854
+ 534,
855
+ 924,
856
+ 558
857
+ ],
858
+ "bbox_3d": {
859
+ "aabb": {
860
+ "center": [
861
+ -413.9310100677407,
862
+ -232.98785409215031,
863
+ 343.4466411270422
864
+ ],
865
+ "extent": [
866
+ 5.976463005250821,
867
+ 9.676017022354785,
868
+ 13.420366287231445
869
+ ]
870
+ },
871
+ "obb": {
872
+ "center": [
873
+ -413.9310100677407,
874
+ -232.98785409215031,
875
+ 343.4466411270422
876
+ ],
877
+ "extent": [
878
+ 5.976463005250821,
879
+ 9.676017022354785,
880
+ 13.420366287231445
881
+ ],
882
+ "rotation": [
883
+ 0,
884
+ -95.85149897932936,
885
+ 0
886
+ ]
887
+ },
888
+ "location": [
889
+ -413.65629155295034,
890
+ -232.98822096173257,
891
+ 356.86700741427364
892
+ ],
893
+ "rotation": [
894
+ 0,
895
+ -95.85149897932936,
896
+ 0
897
+ ],
898
+ "scale": [
899
+ 1,
900
+ 1,
901
+ 1
902
+ ]
903
+ },
904
+ "color": [
905
+ 63,
906
+ 127,
907
+ 63
908
+ ]
909
+ }
910
+ ],
911
+ "image": [
912
+ {
913
+ "object_id": "SM_AI_vol12_02_Image_6_1",
914
+ "bbox_2d": [
915
+ 981,
916
+ 677,
917
+ 1070,
918
+ 779
919
+ ],
920
+ "bbox_3d": {
921
+ "aabb": {
922
+ "center": [
923
+ -539.4445398360865,
924
+ -327.5182160917665,
925
+ 179.66616442898865
926
+ ],
927
+ "extent": [
928
+ 26.412077427546933,
929
+ 43.381530199136535,
930
+ 42.884158230724694
931
+ ]
932
+ },
933
+ "obb": {
934
+ "center": [
935
+ -539.4445398360865,
936
+ -327.5182160917665,
937
+ 179.66616442898865
938
+ ],
939
+ "extent": [
940
+ 26.412077427546933,
941
+ 43.381530199136535,
942
+ 42.884158230724694
943
+ ],
944
+ "rotation": [
945
+ -5.645484559597742e-14,
946
+ -117.78332075815584,
947
+ -3.384932235824407
948
+ ]
949
+ },
950
+ "location": [
951
+ -537.8068422836224,
952
+ -328.38105704305684,
953
+ 179.77565114199106
954
+ ],
955
+ "rotation": [
956
+ -5.645484559597742e-14,
957
+ -117.78332075815584,
958
+ -3.384932235824407
959
+ ],
960
+ "scale": [
961
+ 0.5702713131904602,
962
+ 0.5702713131904602,
963
+ 0.5702713131904602
964
+ ]
965
+ },
966
+ "color": [
967
+ 191,
968
+ 191,
969
+ 63
970
+ ]
971
+ }
972
+ ]
973
+ }
974
+ }
scenes/annotations/AIUE5_vol12_02/l003_off1_r002/scene_annotations_split.json ADDED
@@ -0,0 +1,1582 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l003_off1_r002",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l003_off1_r002/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 416,
8
+ -735,
9
+ 321
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
+ 416,
38
+ -735,
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
+ 504
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
+ 308,
118
+ 792,
119
+ 1919,
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
+ 1163,
178
+ 431,
179
+ 1483,
180
+ 451
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
+ 769,
240
+ 481,
241
+ 845,
242
+ 926
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
+ 221,
300
+ 462,
301
+ 764,
302
+ 1052
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_4_1",
358
+ "bbox_2d": [
359
+ 0,
360
+ 296,
361
+ 260,
362
+ 1079
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ 489.6886770629883,
368
+ -663.5999932861328,
369
+ 214.63871374511717
370
+ ],
371
+ "extent": [
372
+ 52.443214416503906,
373
+ 285.02001953125,
374
+ 184.9097137451172
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ 489.6886770629883,
380
+ -663.5999932861328,
381
+ 214.63871374511717
382
+ ],
383
+ "extent": [
384
+ 52.443214416503906,
385
+ 285.02001953125,
386
+ 184.9097137451172
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ 490.49,
396
+ -664.06,
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
+ 255
414
+ ]
415
+ },
416
+ {
417
+ "object_id": "SM_AI_vol12_02_Wall_7_1",
418
+ "bbox_2d": [
419
+ 1390,
420
+ 487,
421
+ 1919,
422
+ 916
423
+ ],
424
+ "bbox_3d": {
425
+ "aabb": {
426
+ "center": [
427
+ -596.738,
428
+ -366.425015258789,
429
+ 210.4329337158203
430
+ ],
431
+ "extent": [
432
+ 162.47100830078125,
433
+ 277.39666748046875,
434
+ 180.7039337158203
435
+ ]
436
+ },
437
+ "obb": {
438
+ "center": [
439
+ -596.738,
440
+ -366.425015258789,
441
+ 210.4329337158203
442
+ ],
443
+ "extent": [
444
+ 162.47100830078125,
445
+ 277.39666748046875,
446
+ 180.7039337158203
447
+ ],
448
+ "rotation": [
449
+ 0,
450
+ 0,
451
+ 0
452
+ ]
453
+ },
454
+ "location": [
455
+ -596.738,
456
+ -366.425,
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
+ 127,
472
+ 0,
473
+ 0
474
+ ]
475
+ },
476
+ {
477
+ "object_id": "SM_AI_vol12_02_Wall_8_1",
478
+ "bbox_2d": [
479
+ 843,
480
+ 498,
481
+ 1382,
482
+ 830
483
+ ],
484
+ "bbox_3d": {
485
+ "aabb": {
486
+ "center": [
487
+ -254.78200000000004,
488
+ 128.015,
489
+ 210.4329337158203
490
+ ],
491
+ "extent": [
492
+ 217.4521026611328,
493
+ 232.69874572753906,
494
+ 180.7039337158203
495
+ ]
496
+ },
497
+ "obb": {
498
+ "center": [
499
+ -254.78200000000004,
500
+ 128.015,
501
+ 210.4329337158203
502
+ ],
503
+ "extent": [
504
+ 217.4521026611328,
505
+ 232.69874572753906,
506
+ 180.7039337158203
507
+ ],
508
+ "rotation": [
509
+ 0,
510
+ 0,
511
+ 0
512
+ ]
513
+ },
514
+ "location": [
515
+ -254.782,
516
+ 128.015,
517
+ 29.729
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
+ 0,
533
+ 255
534
+ ]
535
+ }
536
+ ],
537
+ "ceiling construction": [
538
+ {
539
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
540
+ "bbox_2d": [
541
+ 580,
542
+ 332,
543
+ 1919,
544
+ 603
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
+ 1230,
604
+ 360,
605
+ 1284,
606
+ 432
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
+ 863,
666
+ 485,
667
+ 1191,
668
+ 921
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_1_1",
726
+ "bbox_2d": [
727
+ 841,
728
+ 504,
729
+ 895,
730
+ 805
731
+ ],
732
+ "bbox_3d": {
733
+ "aabb": {
734
+ "center": [
735
+ -27.202862857055663,
736
+ 300.2924813079834,
737
+ 383.73327246093754
738
+ ],
739
+ "extent": [
740
+ 48.116615295410156,
741
+ 72.9643325805664,
742
+ 352.9642333984375
743
+ ]
744
+ },
745
+ "obb": {
746
+ "center": [
747
+ -27.202862857055663,
748
+ 300.2924813079834,
749
+ 383.7332724609375
750
+ ],
751
+ "extent": [
752
+ 48.116615295410156,
753
+ 72.9643325805664,
754
+ 352.9642333984375
755
+ ],
756
+ "rotation": [
757
+ 0,
758
+ 0,
759
+ 0
760
+ ]
761
+ },
762
+ "location": [
763
+ -27.2457,
764
+ 290.13,
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
+ 0,
780
+ 63,
781
+ 255
782
+ ]
783
+ },
784
+ {
785
+ "object_id": "SM_AI_vol12_02_Window_2_1",
786
+ "bbox_2d": [
787
+ 725,
788
+ 486,
789
+ 803,
790
+ 967
791
+ ],
792
+ "bbox_3d": {
793
+ "aabb": {
794
+ "center": [
795
+ 197.11,
796
+ -70.4276,
797
+ 203.33648068847657
798
+ ],
799
+ "extent": [
800
+ 40.70147705078125,
801
+ 26.7047119140625,
802
+ 171.80458068847656
803
+ ]
804
+ },
805
+ "obb": {
806
+ "center": [
807
+ 197.11,
808
+ -70.4276,
809
+ 203.33648068847657
810
+ ],
811
+ "extent": [
812
+ 40.70147705078125,
813
+ 26.7047119140625,
814
+ 171.80458068847656
815
+ ],
816
+ "rotation": [
817
+ 0,
818
+ 0,
819
+ 0
820
+ ]
821
+ },
822
+ "location": [
823
+ 197.11,
824
+ -70.4276,
825
+ 31.5319
826
+ ],
827
+ "rotation": [
828
+ 0,
829
+ 0,
830
+ 0
831
+ ],
832
+ "scale": [
833
+ 1,
834
+ 1,
835
+ 1
836
+ ]
837
+ },
838
+ "color": [
839
+ 0,
840
+ 63,
841
+ 127
842
+ ]
843
+ },
844
+ {
845
+ "object_id": "SM_AI_vol12_02_Window_3_1",
846
+ "bbox_2d": [
847
+ 214,
848
+ 462,
849
+ 364,
850
+ 1079
851
+ ],
852
+ "bbox_3d": {
853
+ "aabb": {
854
+ "center": [
855
+ 491.6927145996094,
856
+ -100.73671903076172,
857
+ 348.7504233398438
858
+ ],
859
+ "extent": [
860
+ 55.44790649414065,
861
+ 42.235069274902344,
862
+ 317.89764404296875
863
+ ]
864
+ },
865
+ "obb": {
866
+ "center": [
867
+ 491.6927145996094,
868
+ -100.73671903076172,
869
+ 348.75042333984373
870
+ ],
871
+ "extent": [
872
+ 55.44790649414065,
873
+ 42.235069274902344,
874
+ 317.89764404296875
875
+ ],
876
+ "rotation": [
877
+ 0,
878
+ 0,
879
+ 0
880
+ ]
881
+ },
882
+ "location": [
883
+ 490.104,
884
+ -99.9769,
885
+ 29.729
886
+ ],
887
+ "rotation": [
888
+ 0,
889
+ 0,
890
+ 0
891
+ ],
892
+ "scale": [
893
+ 1,
894
+ 1,
895
+ 1
896
+ ]
897
+ },
898
+ "color": [
899
+ 255,
900
+ 63,
901
+ 0
902
+ ]
903
+ },
904
+ {
905
+ "object_id": "SM_AI_vol12_02_Window_7_1",
906
+ "bbox_2d": [
907
+ 1338,
908
+ 498,
909
+ 1427,
910
+ 838
911
+ ],
912
+ "bbox_3d": {
913
+ "aabb": {
914
+ "center": [
915
+ -429.77315234375,
916
+ -120.02817706298828,
917
+ 202.49139013671873
918
+ ],
919
+ "extent": [
920
+ 35.68157958984375,
921
+ 39.985801696777344,
922
+ 171.5279541015625
923
+ ]
924
+ },
925
+ "obb": {
926
+ "center": [
927
+ -429.77315234375,
928
+ -120.02817706298828,
929
+ 202.49139013671873
930
+ ],
931
+ "extent": [
932
+ 35.68157958984375,
933
+ 39.985801696777344,
934
+ 171.5279541015625
935
+ ],
936
+ "rotation": [
937
+ 0,
938
+ 0,
939
+ 0
940
+ ]
941
+ },
942
+ "location": [
943
+ -429.592,
944
+ -117.767,
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
+ 127,
960
+ 63,
961
+ 255
962
+ ]
963
+ }
964
+ ],
965
+ "window glass": [
966
+ {
967
+ "object_id": "SM_AI_vol12_02_Window_glass_1_1",
968
+ "bbox_2d": [
969
+ 829,
970
+ 504,
971
+ 893,
972
+ 803
973
+ ],
974
+ "bbox_3d": {
975
+ "aabb": {
976
+ "center": [
977
+ -27.148480532836913,
978
+ 300.574580078125,
979
+ 383.29677954101567
980
+ ],
981
+ "extent": [
982
+ 45.95030975341797,
983
+ 70.68048095703125,
984
+ 351.5565490722656
985
+ ]
986
+ },
987
+ "obb": {
988
+ "center": [
989
+ -27.148480532836913,
990
+ 300.574580078125,
991
+ 383.2967795410156
992
+ ],
993
+ "extent": [
994
+ 45.95030975341797,
995
+ 70.68048095703125,
996
+ 351.5565490722656
997
+ ],
998
+ "rotation": [
999
+ 0,
1000
+ 0,
1001
+ 0
1002
+ ]
1003
+ },
1004
+ "location": [
1005
+ -27.2457,
1006
+ 290.13,
1007
+ 29.729
1008
+ ],
1009
+ "rotation": [
1010
+ 0,
1011
+ 0,
1012
+ 0
1013
+ ],
1014
+ "scale": [
1015
+ 1,
1016
+ 1,
1017
+ 1
1018
+ ]
1019
+ },
1020
+ "color": [
1021
+ 127,
1022
+ 63,
1023
+ 127
1024
+ ]
1025
+ },
1026
+ {
1027
+ "object_id": "SM_AI_vol12_02_Window_glass_2_1",
1028
+ "bbox_2d": [
1029
+ 726,
1030
+ 499,
1031
+ 798,
1032
+ 960
1033
+ ],
1034
+ "bbox_3d": {
1035
+ "aabb": {
1036
+ "center": [
1037
+ 197.142,
1038
+ -70.4178,
1039
+ 203.24713515625
1040
+ ],
1041
+ "extent": [
1042
+ 37.23919677734375,
1043
+ 22.606124877929688,
1044
+ 169.93603515625
1045
+ ]
1046
+ },
1047
+ "obb": {
1048
+ "center": [
1049
+ 197.142,
1050
+ -70.4178,
1051
+ 203.24713515625
1052
+ ],
1053
+ "extent": [
1054
+ 37.23919677734375,
1055
+ 22.606124877929688,
1056
+ 169.93603515625
1057
+ ],
1058
+ "rotation": [
1059
+ 0,
1060
+ 0,
1061
+ 0
1062
+ ]
1063
+ },
1064
+ "location": [
1065
+ 197.142,
1066
+ -70.4178,
1067
+ 33.3111
1068
+ ],
1069
+ "rotation": [
1070
+ 0,
1071
+ 0,
1072
+ 0
1073
+ ],
1074
+ "scale": [
1075
+ 1,
1076
+ 1,
1077
+ 1
1078
+ ]
1079
+ },
1080
+ "color": [
1081
+ 0,
1082
+ 63,
1083
+ 63
1084
+ ]
1085
+ },
1086
+ {
1087
+ "object_id": "SM_AI_vol12_02_Window_glass_3_1",
1088
+ "bbox_2d": [
1089
+ 215,
1090
+ 473,
1091
+ 359,
1092
+ 1079
1093
+ ],
1094
+ "bbox_3d": {
1095
+ "aabb": {
1096
+ "center": [
1097
+ 491.49184790039067,
1098
+ -101.03965939941406,
1099
+ 348.5740317382813
1100
+ ],
1101
+ "extent": [
1102
+ 52.6355895996094,
1103
+ 40.09288024902344,
1104
+ 316.5819091796875
1105
+ ]
1106
+ },
1107
+ "obb": {
1108
+ "center": [
1109
+ 491.49184790039067,
1110
+ -101.03965939941406,
1111
+ 348.57403173828123
1112
+ ],
1113
+ "extent": [
1114
+ 52.6355895996094,
1115
+ 40.09288024902344,
1116
+ 316.5819091796875
1117
+ ],
1118
+ "rotation": [
1119
+ 0,
1120
+ 0,
1121
+ 0
1122
+ ]
1123
+ },
1124
+ "location": [
1125
+ 490.104,
1126
+ -99.9769,
1127
+ 29.729
1128
+ ],
1129
+ "rotation": [
1130
+ 0,
1131
+ 0,
1132
+ 0
1133
+ ],
1134
+ "scale": [
1135
+ 1,
1136
+ 1,
1137
+ 1
1138
+ ]
1139
+ },
1140
+ "color": [
1141
+ 255,
1142
+ 63,
1143
+ 63
1144
+ ]
1145
+ },
1146
+ {
1147
+ "object_id": "SM_AI_vol12_02_Window_glass_7_1",
1148
+ "bbox_2d": [
1149
+ 1339,
1150
+ 503,
1151
+ 1427,
1152
+ 835
1153
+ ],
1154
+ "bbox_3d": {
1155
+ "aabb": {
1156
+ "center": [
1157
+ -429.7319993896484,
1158
+ -120.46578387451171,
1159
+ 202.2577628173828
1160
+ ],
1161
+ "extent": [
1162
+ 33.27091979980469,
1163
+ 37.76592254638672,
1164
+ 170.1311492919922
1165
+ ]
1166
+ },
1167
+ "obb": {
1168
+ "center": [
1169
+ -429.7319993896484,
1170
+ -120.46578387451171,
1171
+ 202.2577628173828
1172
+ ],
1173
+ "extent": [
1174
+ 33.27091979980469,
1175
+ 37.76592254638672,
1176
+ 170.1311492919922
1177
+ ],
1178
+ "rotation": [
1179
+ 0,
1180
+ 0,
1181
+ 0
1182
+ ]
1183
+ },
1184
+ "location": [
1185
+ -429.592,
1186
+ -117.767,
1187
+ 29.729
1188
+ ],
1189
+ "rotation": [
1190
+ 0,
1191
+ 0,
1192
+ 0
1193
+ ],
1194
+ "scale": [
1195
+ 1,
1196
+ 1,
1197
+ 1
1198
+ ]
1199
+ },
1200
+ "color": [
1201
+ 63,
1202
+ 0,
1203
+ 127
1204
+ ]
1205
+ }
1206
+ ]
1207
+ },
1208
+ "foreground": {
1209
+ "lamp bar": [
1210
+ {
1211
+ "object_id": "SM_AI_vol12_02_lamp_bar_1_1",
1212
+ "bbox_2d": [
1213
+ 837,
1214
+ 69,
1215
+ 1919,
1216
+ 251
1217
+ ],
1218
+ "bbox_3d": {
1219
+ "aabb": {
1220
+ "center": [
1221
+ 261.9864920049519,
1222
+ -733.4944903410535,
1223
+ 359.51021751078605
1224
+ ],
1225
+ "extent": [
1226
+ 111.1802194954998,
1227
+ 105.73403938019135,
1228
+ 3.693960189819336
1229
+ ]
1230
+ },
1231
+ "obb": {
1232
+ "center": [
1233
+ 261.9864920049519,
1234
+ -733.4944903410535,
1235
+ 359.51021751078605
1236
+ ],
1237
+ "extent": [
1238
+ 111.1802194954998,
1239
+ 105.73403938019135,
1240
+ 3.693960189819336
1241
+ ],
1242
+ "rotation": [
1243
+ 0,
1244
+ 43.494370880237476,
1245
+ 0
1246
+ ]
1247
+ },
1248
+ "location": [
1249
+ 261.9865022611724,
1250
+ -733.4945011509816,
1251
+ 359.5102262130642
1252
+ ],
1253
+ "rotation": [
1254
+ 0,
1255
+ 43.494370880237476,
1256
+ 0
1257
+ ],
1258
+ "scale": [
1259
+ 1,
1260
+ 1,
1261
+ 1
1262
+ ]
1263
+ },
1264
+ "color": [
1265
+ 63,
1266
+ 127,
1267
+ 255
1268
+ ]
1269
+ }
1270
+ ],
1271
+ "halogen": [
1272
+ {
1273
+ "object_id": "SM_AI_vol12_02_halogen_1_1",
1274
+ "bbox_2d": [
1275
+ 1480,
1276
+ 505,
1277
+ 1498,
1278
+ 529
1279
+ ],
1280
+ "bbox_3d": {
1281
+ "aabb": {
1282
+ "center": [
1283
+ -413.9310100677407,
1284
+ -232.98785409215031,
1285
+ 343.4466411270422
1286
+ ],
1287
+ "extent": [
1288
+ 5.976463005250821,
1289
+ 9.676017022354785,
1290
+ 13.420366287231445
1291
+ ]
1292
+ },
1293
+ "obb": {
1294
+ "center": [
1295
+ -413.9310100677407,
1296
+ -232.98785409215031,
1297
+ 343.4466411270422
1298
+ ],
1299
+ "extent": [
1300
+ 5.976463005250821,
1301
+ 9.676017022354785,
1302
+ 13.420366287231445
1303
+ ],
1304
+ "rotation": [
1305
+ 0,
1306
+ -95.85149897932936,
1307
+ 0
1308
+ ]
1309
+ },
1310
+ "location": [
1311
+ -413.65629155295034,
1312
+ -232.98822096173257,
1313
+ 356.86700741427364
1314
+ ],
1315
+ "rotation": [
1316
+ 0,
1317
+ -95.85149897932936,
1318
+ 0
1319
+ ],
1320
+ "scale": [
1321
+ 1,
1322
+ 1,
1323
+ 1
1324
+ ]
1325
+ },
1326
+ "color": [
1327
+ 63,
1328
+ 127,
1329
+ 63
1330
+ ]
1331
+ }
1332
+ ],
1333
+ "escape light": [
1334
+ {
1335
+ "object_id": "SM_AI_vol12_02_Escape_Light_1_1",
1336
+ "bbox_2d": [
1337
+ 242,
1338
+ 710,
1339
+ 261,
1340
+ 757
1341
+ ],
1342
+ "bbox_3d": {
1343
+ "aabb": {
1344
+ "center": [
1345
+ 471.2619019848098,
1346
+ -270.1830618249048,
1347
+ 245.40414318341737
1348
+ ],
1349
+ "extent": [
1350
+ 8.658907252016093,
1351
+ 21.735248673202463,
1352
+ 6.977718830108643
1353
+ ]
1354
+ },
1355
+ "obb": {
1356
+ "center": [
1357
+ 471.2619019848098,
1358
+ -270.1830618249048,
1359
+ 245.40414318341737
1360
+ ],
1361
+ "extent": [
1362
+ 8.658907252016093,
1363
+ 21.735248673202463,
1364
+ 6.977718830108643
1365
+ ],
1366
+ "rotation": [
1367
+ 0,
1368
+ 79.97726618943237,
1369
+ 0
1370
+ ]
1371
+ },
1372
+ "location": [
1373
+ 476.25990185975616,
1374
+ -271.06638895837244,
1375
+ 245.40414318341737
1376
+ ],
1377
+ "rotation": [
1378
+ 0,
1379
+ 79.97726618943237,
1380
+ 0
1381
+ ],
1382
+ "scale": [
1383
+ 1,
1384
+ 1,
1385
+ 1
1386
+ ]
1387
+ },
1388
+ "color": [
1389
+ 127,
1390
+ 191,
1391
+ 63
1392
+ ]
1393
+ }
1394
+ ],
1395
+ "fire alarm": [
1396
+ {
1397
+ "object_id": "SM_AI_vol12_02_Fire_Alarm_1_1",
1398
+ "bbox_2d": [
1399
+ 808,
1400
+ 685,
1401
+ 815,
1402
+ 700
1403
+ ],
1404
+ "bbox_3d": {
1405
+ "aabb": {
1406
+ "center": [
1407
+ 121.96586040880331,
1408
+ 21.62493519342352,
1409
+ 193.62957937203007
1410
+ ],
1411
+ "extent": [
1412
+ 5.475914132887809,
1413
+ 6.693747729026345,
1414
+ 6.36363703443817
1415
+ ]
1416
+ },
1417
+ "obb": {
1418
+ "center": [
1419
+ 121.96586040880331,
1420
+ 21.62493519342352,
1421
+ 193.62957937203007
1422
+ ],
1423
+ "extent": [
1424
+ 5.475914132887809,
1425
+ 6.693747729026345,
1426
+ 6.36363703443817
1427
+ ],
1428
+ "rotation": [
1429
+ 8.034876264047209e-13,
1430
+ 118.44794578127137,
1431
+ -3.676471794484711
1432
+ ]
1433
+ },
1434
+ "location": [
1435
+ 124.20275258589528,
1436
+ 22.83683848060578,
1437
+ 192.91728461988254
1438
+ ],
1439
+ "rotation": [
1440
+ 8.034876264047209e-13,
1441
+ 118.44794578127137,
1442
+ -3.676471794484711
1443
+ ],
1444
+ "scale": [
1445
+ 1,
1446
+ 1,
1447
+ 1
1448
+ ]
1449
+ },
1450
+ "color": [
1451
+ 63,
1452
+ 191,
1453
+ 0
1454
+ ]
1455
+ }
1456
+ ],
1457
+ "switch": [
1458
+ {
1459
+ "object_id": "SM_AI_vol12_02_switch_1_1",
1460
+ "bbox_2d": [
1461
+ 796,
1462
+ 699,
1463
+ 798,
1464
+ 711
1465
+ ],
1466
+ "bbox_3d": {
1467
+ "aabb": {
1468
+ "center": [
1469
+ 157.03391920591054,
1470
+ -38.64782541918305,
1471
+ 195.05934441105256
1472
+ ],
1473
+ "extent": [
1474
+ 2.8713895084,
1475
+ 4.110751379633456,
1476
+ 4.2442087809290285
1477
+ ]
1478
+ },
1479
+ "obb": {
1480
+ "center": [
1481
+ 157.03391920591054,
1482
+ -38.64782541918305,
1483
+ 195.05934441105256
1484
+ ],
1485
+ "extent": [
1486
+ 2.8713895084,
1487
+ 4.110751379633456,
1488
+ 4.2442087809290285
1489
+ ],
1490
+ "rotation": [
1491
+ 0.6677387835223151,
1492
+ 118.38370715706026,
1493
+ -3.3241961483847144
1494
+ ]
1495
+ },
1496
+ "location": [
1497
+ 157.67546334078443,
1498
+ -38.300617564077776,
1499
+ 195.01698465740535
1500
+ ],
1501
+ "rotation": [
1502
+ 0.6677387835223151,
1503
+ 118.38370715706026,
1504
+ -3.3241961483847144
1505
+ ],
1506
+ "scale": [
1507
+ 1,
1508
+ 1,
1509
+ 1
1510
+ ]
1511
+ },
1512
+ "color": [
1513
+ 63,
1514
+ 191,
1515
+ 255
1516
+ ]
1517
+ }
1518
+ ],
1519
+ "image": [
1520
+ {
1521
+ "object_id": "SM_AI_vol12_02_Image_6_1",
1522
+ "bbox_2d": [
1523
+ 1616,
1524
+ 651,
1525
+ 1749,
1526
+ 759
1527
+ ],
1528
+ "bbox_3d": {
1529
+ "aabb": {
1530
+ "center": [
1531
+ -539.4445398360865,
1532
+ -327.5182160917665,
1533
+ 179.66616442898865
1534
+ ],
1535
+ "extent": [
1536
+ 26.412077427546933,
1537
+ 43.381530199136535,
1538
+ 42.884158230724694
1539
+ ]
1540
+ },
1541
+ "obb": {
1542
+ "center": [
1543
+ -539.4445398360865,
1544
+ -327.5182160917665,
1545
+ 179.66616442898865
1546
+ ],
1547
+ "extent": [
1548
+ 26.412077427546933,
1549
+ 43.381530199136535,
1550
+ 42.884158230724694
1551
+ ],
1552
+ "rotation": [
1553
+ -5.645484559597742e-14,
1554
+ -117.78332075815584,
1555
+ -3.384932235824407
1556
+ ]
1557
+ },
1558
+ "location": [
1559
+ -537.8068422836224,
1560
+ -328.38105704305684,
1561
+ 179.77565114199106
1562
+ ],
1563
+ "rotation": [
1564
+ -5.645484559597742e-14,
1565
+ -117.78332075815584,
1566
+ -3.384932235824407
1567
+ ],
1568
+ "scale": [
1569
+ 0.5702713131904602,
1570
+ 0.5702713131904602,
1571
+ 0.5702713131904602
1572
+ ]
1573
+ },
1574
+ "color": [
1575
+ 191,
1576
+ 191,
1577
+ 63
1578
+ ]
1579
+ }
1580
+ ]
1581
+ }
1582
+ }
scenes/annotations/AIUE5_vol12_02/l006_off2_r004/scene_annotations_split.json ADDED
@@ -0,0 +1,848 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l006_off2_r004",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l006_off2_r004/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 483,
8
+ -195,
9
+ 351
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
+ 483,
38
+ -195,
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
+ 0,
59
+ 1919,
60
+ 527
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
+ 857,
119
+ 1354,
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
+ "wall": [
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Wall_3_1",
178
+ "bbox_2d": [
179
+ 1347,
180
+ 98,
181
+ 1919,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 492.289,
188
+ -232.0970076293945,
189
+ 210.30126562499998
190
+ ],
191
+ "extent": [
192
+ 55.04327392578125,
193
+ 149.878173828125,
194
+ 180.572265625
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 492.289,
200
+ -232.0970076293945,
201
+ 210.30126562499998
202
+ ],
203
+ "extent": [
204
+ 55.04327392578125,
205
+ 149.878173828125,
206
+ 180.572265625
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 492.289,
216
+ -232.097,
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
+ 255,
232
+ 127,
233
+ 0
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Wall_4_1",
238
+ "bbox_2d": [
239
+ 1353,
240
+ 1016,
241
+ 1353,
242
+ 1016
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
+ 829,
300
+ 522,
301
+ 1401,
302
+ 1004
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
+ 191,
360
+ 527,
361
+ 827,
362
+ 895
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
+ "object_id": "SM_AI_vol12_02_Wall_7_1",
418
+ "bbox_2d": [
419
+ 0,
420
+ 527,
421
+ 158,
422
+ 925
423
+ ],
424
+ "bbox_3d": {
425
+ "aabb": {
426
+ "center": [
427
+ -596.738,
428
+ -366.425015258789,
429
+ 210.4329337158203
430
+ ],
431
+ "extent": [
432
+ 162.47100830078125,
433
+ 277.39666748046875,
434
+ 180.7039337158203
435
+ ]
436
+ },
437
+ "obb": {
438
+ "center": [
439
+ -596.738,
440
+ -366.425015258789,
441
+ 210.4329337158203
442
+ ],
443
+ "extent": [
444
+ 162.47100830078125,
445
+ 277.39666748046875,
446
+ 180.7039337158203
447
+ ],
448
+ "rotation": [
449
+ 0,
450
+ 0,
451
+ 0
452
+ ]
453
+ },
454
+ "location": [
455
+ -596.738,
456
+ -366.425,
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
+ 127,
472
+ 0,
473
+ 0
474
+ ]
475
+ }
476
+ ],
477
+ "ceiling construction": [
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
480
+ "bbox_2d": [
481
+ 0,
482
+ 506,
483
+ 850,
484
+ 686
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ 14.060200000000009,
490
+ -466.8179847412109,
491
+ 344.82342364501955
492
+ ],
493
+ "extent": [
494
+ 392.0332946777344,
495
+ 374.09112548828125,
496
+ 53.95142364501953
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ 14.060200000000009,
502
+ -466.8179847412109,
503
+ 344.82342364501955
504
+ ],
505
+ "extent": [
506
+ 392.0332946777344,
507
+ 374.09112548828125,
508
+ 53.95142364501953
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ 14.0602,
518
+ -466.818,
519
+ 290.872
520
+ ],
521
+ "rotation": [
522
+ 0,
523
+ 0,
524
+ 0
525
+ ],
526
+ "scale": [
527
+ 1,
528
+ 1,
529
+ 1
530
+ ]
531
+ },
532
+ "color": [
533
+ 255,
534
+ 0,
535
+ 63
536
+ ]
537
+ }
538
+ ],
539
+ "window": [
540
+ {
541
+ "object_id": "SM_AI_vol12_02_Window_5_1",
542
+ "bbox_2d": [
543
+ 767,
544
+ 527,
545
+ 847,
546
+ 901
547
+ ],
548
+ "bbox_3d": {
549
+ "aabb": {
550
+ "center": [
551
+ -64.85708775634765,
552
+ -895.8563601074219,
553
+ 203.14495458984373
554
+ ],
555
+ "extent": [
556
+ 43.711151123046875,
557
+ 31.792999267578125,
558
+ 172.34878540039062
559
+ ]
560
+ },
561
+ "obb": {
562
+ "center": [
563
+ -64.85708775634765,
564
+ -895.8563601074219,
565
+ 203.14495458984373
566
+ ],
567
+ "extent": [
568
+ 43.711151123046875,
569
+ 31.792999267578125,
570
+ 172.34878540039062
571
+ ],
572
+ "rotation": [
573
+ 0,
574
+ 0,
575
+ 0
576
+ ]
577
+ },
578
+ "location": [
579
+ -65.3612,
580
+ -893.331,
581
+ 29.729
582
+ ],
583
+ "rotation": [
584
+ 0,
585
+ 0,
586
+ 0
587
+ ],
588
+ "scale": [
589
+ 1,
590
+ 1,
591
+ 1
592
+ ]
593
+ },
594
+ "color": [
595
+ 255,
596
+ 63,
597
+ 127
598
+ ]
599
+ },
600
+ {
601
+ "object_id": "SM_AI_vol12_02_Window_6_1",
602
+ "bbox_2d": [
603
+ 125,
604
+ 854,
605
+ 214,
606
+ 873
607
+ ],
608
+ "bbox_3d": {
609
+ "aabb": {
610
+ "center": [
611
+ -713.3179209289551,
612
+ -628.0548697814942,
613
+ 386.14321508789067
614
+ ],
615
+ "extent": [
616
+ 61.848880767822266,
617
+ 55.13796615600586,
618
+ 355.4439392089844
619
+ ]
620
+ },
621
+ "obb": {
622
+ "center": [
623
+ -713.3179209289551,
624
+ -628.0548697814942,
625
+ 386.1432150878906
626
+ ],
627
+ "extent": [
628
+ 61.848880767822266,
629
+ 55.13796615600586,
630
+ 355.4439392089844
631
+ ],
632
+ "rotation": [
633
+ 0,
634
+ 0,
635
+ 0
636
+ ]
637
+ },
638
+ "location": [
639
+ -713.306,
640
+ -628.186,
641
+ 29.729
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
+ 63,
657
+ 0
658
+ ]
659
+ }
660
+ ],
661
+ "window glass": [
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Window_glass_5_1",
664
+ "bbox_2d": [
665
+ 771,
666
+ 542,
667
+ 846,
668
+ 897
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ -64.51585088766417,
674
+ -895.8478194094979,
675
+ 202.9212912597656
676
+ ],
677
+ "extent": [
678
+ 42.015435022473454,
679
+ 28.88885540970648,
680
+ 170.85858154296875
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ -64.51585088766417,
686
+ -895.8478194094979,
687
+ 202.9212912597656
688
+ ],
689
+ "extent": [
690
+ 42.015435022473454,
691
+ 28.88885540970648,
692
+ 170.85858154296875
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0.5048283882766836,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ -65.3612,
702
+ -893.331,
703
+ 29.729
704
+ ],
705
+ "rotation": [
706
+ 0,
707
+ 0.5048283882766836,
708
+ 0
709
+ ],
710
+ "scale": [
711
+ 1,
712
+ 1,
713
+ 1
714
+ ]
715
+ },
716
+ "color": [
717
+ 63,
718
+ 0,
719
+ 0
720
+ ]
721
+ },
722
+ {
723
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
724
+ "bbox_2d": [
725
+ 125,
726
+ 528,
727
+ 213,
728
+ 870
729
+ ],
730
+ "bbox_3d": {
731
+ "aabb": {
732
+ "center": [
733
+ -713.5362570343018,
734
+ -627.9010802612305,
735
+ 386.2503317871094
736
+ ],
737
+ "extent": [
738
+ 60.059295654296875,
739
+ 52.93374252319336,
740
+ 353.8716735839844
741
+ ]
742
+ },
743
+ "obb": {
744
+ "center": [
745
+ -713.5362570343018,
746
+ -627.9010802612305,
747
+ 386.25033178710936
748
+ ],
749
+ "extent": [
750
+ 60.059295654296875,
751
+ 52.93374252319336,
752
+ 353.8716735839844
753
+ ],
754
+ "rotation": [
755
+ 0,
756
+ 0,
757
+ 0
758
+ ]
759
+ },
760
+ "location": [
761
+ -713.306,
762
+ -628.186,
763
+ 29.729
764
+ ],
765
+ "rotation": [
766
+ 0,
767
+ 0,
768
+ 0
769
+ ],
770
+ "scale": [
771
+ 1,
772
+ 1,
773
+ 1
774
+ ]
775
+ },
776
+ "color": [
777
+ 63,
778
+ 0,
779
+ 255
780
+ ]
781
+ }
782
+ ]
783
+ },
784
+ "foreground": {
785
+ "lamp bar": [
786
+ {
787
+ "object_id": "SM_AI_vol12_02_lamp_bar_1_1",
788
+ "bbox_2d": [
789
+ 1003,
790
+ 513,
791
+ 1233,
792
+ 533
793
+ ],
794
+ "bbox_3d": {
795
+ "aabb": {
796
+ "center": [
797
+ 261.9864920049519,
798
+ -733.4944903410535,
799
+ 359.51021751078605
800
+ ],
801
+ "extent": [
802
+ 111.1802194954998,
803
+ 105.73403938019135,
804
+ 3.693960189819336
805
+ ]
806
+ },
807
+ "obb": {
808
+ "center": [
809
+ 261.9864920049519,
810
+ -733.4944903410535,
811
+ 359.51021751078605
812
+ ],
813
+ "extent": [
814
+ 111.1802194954998,
815
+ 105.73403938019135,
816
+ 3.693960189819336
817
+ ],
818
+ "rotation": [
819
+ 0,
820
+ 43.494370880237476,
821
+ 0
822
+ ]
823
+ },
824
+ "location": [
825
+ 261.9865022611724,
826
+ -733.4945011509816,
827
+ 359.5102262130642
828
+ ],
829
+ "rotation": [
830
+ 0,
831
+ 43.494370880237476,
832
+ 0
833
+ ],
834
+ "scale": [
835
+ 1,
836
+ 1,
837
+ 1
838
+ ]
839
+ },
840
+ "color": [
841
+ 63,
842
+ 127,
843
+ 255
844
+ ]
845
+ }
846
+ ]
847
+ }
848
+ }
scenes/annotations/AIUE5_vol12_02/l012_off2_r001/scene_annotations_split.json ADDED
@@ -0,0 +1,910 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l012_off2_r001",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l012_off2_r001/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 300,
8
+ -477,
9
+ 351
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
+ 300,
38
+ -477,
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
+ 0,
59
+ 1919,
60
+ 512
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
+ 376,
118
+ 0,
119
+ 1919,
120
+ 250
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_2_1",
178
+ "bbox_2d": [
179
+ 1017,
180
+ 499,
181
+ 1909,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 356.714015258789,
188
+ -77.27309713897705,
189
+ 210.14428320312498
190
+ ],
191
+ "extent": [
192
+ 164.57118225097653,
193
+ 23.48920440673828,
194
+ 180.415283203125
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 356.714015258789,
200
+ -77.27309713897705,
201
+ 210.14428320312498
202
+ ],
203
+ "extent": [
204
+ 164.57118225097653,
205
+ 23.48920440673828,
206
+ 180.415283203125
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 356.714,
216
+ -77.2731,
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
+ 255
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Wall_3_1",
238
+ "bbox_2d": [
239
+ 406,
240
+ 468,
241
+ 982,
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
+ 0,
300
+ 444,
301
+ 441,
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_11_1",
358
+ "bbox_2d": [
359
+ 396,
360
+ 36,
361
+ 429,
362
+ 93
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ 511.1336596819017,
368
+ -218.0759923706055,
369
+ 542.9191550292969
370
+ ],
371
+ "extent": [
372
+ 41.81835937500003,
373
+ 163.89883422851562,
374
+ 153.19015502929688
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ 511.1336596819017,
380
+ -218.0759923706055,
381
+ 542.9191550292969
382
+ ],
383
+ "extent": [
384
+ 41.81835937500003,
385
+ 163.89883422851562,
386
+ 153.19015502929688
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ 511.1336291643235,
396
+ -218.076,
397
+ 389.729
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
+ 127
414
+ ]
415
+ },
416
+ {
417
+ "object_id": "SM_AI_vol12_02_Wall_12_1",
418
+ "bbox_2d": [
419
+ 374,
420
+ 0,
421
+ 395,
422
+ 36
423
+ ],
424
+ "bbox_3d": {
425
+ "aabb": {
426
+ "center": [
427
+ 508.3386596819016,
428
+ -682.396,
429
+ 542.9197043457032
430
+ ],
431
+ "extent": [
432
+ 39.0238037109375,
433
+ 301.61383056640625,
434
+ 153.19070434570312
435
+ ]
436
+ },
437
+ "obb": {
438
+ "center": [
439
+ 508.3386596819016,
440
+ -682.396,
441
+ 542.9197043457032
442
+ ],
443
+ "extent": [
444
+ 39.0238037109375,
445
+ 301.61383056640625,
446
+ 153.19070434570312
447
+ ],
448
+ "rotation": [
449
+ 0,
450
+ 0,
451
+ 0
452
+ ]
453
+ },
454
+ "location": [
455
+ 508.3386291643235,
456
+ -682.396,
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
+ 127
474
+ ]
475
+ }
476
+ ],
477
+ "ceiling construction": [
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
480
+ "bbox_2d": [
481
+ 426,
482
+ 0,
483
+ 1919,
484
+ 582
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ 14.060200000000009,
490
+ -466.8179847412109,
491
+ 344.82342364501955
492
+ ],
493
+ "extent": [
494
+ 392.0332946777344,
495
+ 374.09112548828125,
496
+ 53.95142364501953
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ 14.060200000000009,
502
+ -466.8179847412109,
503
+ 344.82342364501955
504
+ ],
505
+ "extent": [
506
+ 392.0332946777344,
507
+ 374.09112548828125,
508
+ 53.95142364501953
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ 14.0602,
518
+ -466.818,
519
+ 290.872
520
+ ],
521
+ "rotation": [
522
+ 0,
523
+ 0,
524
+ 0
525
+ ],
526
+ "scale": [
527
+ 1,
528
+ 1,
529
+ 1
530
+ ]
531
+ },
532
+ "color": [
533
+ 255,
534
+ 0,
535
+ 63
536
+ ]
537
+ }
538
+ ],
539
+ "window": [
540
+ {
541
+ "object_id": "SM_AI_vol12_02_Window_2_1",
542
+ "bbox_2d": [
543
+ 1909,
544
+ 499,
545
+ 1919,
546
+ 629
547
+ ],
548
+ "bbox_3d": {
549
+ "aabb": {
550
+ "center": [
551
+ 197.11,
552
+ -70.4276,
553
+ 203.33648068847657
554
+ ],
555
+ "extent": [
556
+ 40.70147705078125,
557
+ 26.7047119140625,
558
+ 171.80458068847656
559
+ ]
560
+ },
561
+ "obb": {
562
+ "center": [
563
+ 197.11,
564
+ -70.4276,
565
+ 203.33648068847657
566
+ ],
567
+ "extent": [
568
+ 40.70147705078125,
569
+ 26.7047119140625,
570
+ 171.80458068847656
571
+ ],
572
+ "rotation": [
573
+ 0,
574
+ 0,
575
+ 0
576
+ ]
577
+ },
578
+ "location": [
579
+ 197.11,
580
+ -70.4276,
581
+ 31.5319
582
+ ],
583
+ "rotation": [
584
+ 0,
585
+ 0,
586
+ 0
587
+ ],
588
+ "scale": [
589
+ 1,
590
+ 1,
591
+ 1
592
+ ]
593
+ },
594
+ "color": [
595
+ 0,
596
+ 63,
597
+ 127
598
+ ]
599
+ },
600
+ {
601
+ "object_id": "SM_AI_vol12_02_Window_3_1",
602
+ "bbox_2d": [
603
+ 1011,
604
+ 513,
605
+ 1106,
606
+ 1079
607
+ ],
608
+ "bbox_3d": {
609
+ "aabb": {
610
+ "center": [
611
+ 491.6927145996094,
612
+ -100.73671903076172,
613
+ 348.7504233398438
614
+ ],
615
+ "extent": [
616
+ 55.44790649414065,
617
+ 42.235069274902344,
618
+ 317.89764404296875
619
+ ]
620
+ },
621
+ "obb": {
622
+ "center": [
623
+ 491.6927145996094,
624
+ -100.73671903076172,
625
+ 348.75042333984373
626
+ ],
627
+ "extent": [
628
+ 55.44790649414065,
629
+ 42.235069274902344,
630
+ 317.89764404296875
631
+ ],
632
+ "rotation": [
633
+ 0,
634
+ 0,
635
+ 0
636
+ ]
637
+ },
638
+ "location": [
639
+ 490.104,
640
+ -99.9769,
641
+ 29.729
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
+ 63,
657
+ 0
658
+ ]
659
+ }
660
+ ],
661
+ "window glass": [
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Window_glass_2_1",
664
+ "bbox_2d": [
665
+ 1838,
666
+ 580,
667
+ 1919,
668
+ 1079
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ 197.142,
674
+ -70.4178,
675
+ 203.24713515625
676
+ ],
677
+ "extent": [
678
+ 37.23919677734375,
679
+ 22.606124877929688,
680
+ 169.93603515625
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ 197.142,
686
+ -70.4178,
687
+ 203.24713515625
688
+ ],
689
+ "extent": [
690
+ 37.23919677734375,
691
+ 22.606124877929688,
692
+ 169.93603515625
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ 197.142,
702
+ -70.4178,
703
+ 33.3111
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
+ 63
720
+ ]
721
+ },
722
+ {
723
+ "object_id": "SM_AI_vol12_02_Window_glass_3_1",
724
+ "bbox_2d": [
725
+ 968,
726
+ 513,
727
+ 1102,
728
+ 1079
729
+ ],
730
+ "bbox_3d": {
731
+ "aabb": {
732
+ "center": [
733
+ 491.49184790039067,
734
+ -101.03965939941406,
735
+ 348.5740317382813
736
+ ],
737
+ "extent": [
738
+ 52.6355895996094,
739
+ 40.09288024902344,
740
+ 316.5819091796875
741
+ ]
742
+ },
743
+ "obb": {
744
+ "center": [
745
+ 491.49184790039067,
746
+ -101.03965939941406,
747
+ 348.57403173828123
748
+ ],
749
+ "extent": [
750
+ 52.6355895996094,
751
+ 40.09288024902344,
752
+ 316.5819091796875
753
+ ],
754
+ "rotation": [
755
+ 0,
756
+ 0,
757
+ 0
758
+ ]
759
+ },
760
+ "location": [
761
+ 490.104,
762
+ -99.9769,
763
+ 29.729
764
+ ],
765
+ "rotation": [
766
+ 0,
767
+ 0,
768
+ 0
769
+ ],
770
+ "scale": [
771
+ 1,
772
+ 1,
773
+ 1
774
+ ]
775
+ },
776
+ "color": [
777
+ 255,
778
+ 63,
779
+ 63
780
+ ]
781
+ }
782
+ ],
783
+ "door": [
784
+ {
785
+ "object_id": "SM_AI_vol12_02_Door_1_1",
786
+ "bbox_2d": [
787
+ 681,
788
+ 911,
789
+ 858,
790
+ 1079
791
+ ],
792
+ "bbox_3d": {
793
+ "aabb": {
794
+ "center": [
795
+ 477.253105779281,
796
+ -269.53437192193536,
797
+ 130.80079641255338
798
+ ],
799
+ "extent": [
800
+ 10.392300681066615,
801
+ 48.26562220733574,
802
+ 101.04579162597656
803
+ ]
804
+ },
805
+ "obb": {
806
+ "center": [
807
+ 477.253105779281,
808
+ -269.53437192193536,
809
+ 130.80079641255338
810
+ ],
811
+ "extent": [
812
+ 10.392300681066615,
813
+ 48.26562220733574,
814
+ 101.04579162597656
815
+ ],
816
+ "rotation": [
817
+ 0,
818
+ 80,
819
+ 0
820
+ ]
821
+ },
822
+ "location": [
823
+ 477.2527718969296,
824
+ -269.5700000206572,
825
+ 30.72760000142058
826
+ ],
827
+ "rotation": [
828
+ 0,
829
+ 80,
830
+ 0
831
+ ],
832
+ "scale": [
833
+ 1,
834
+ 1,
835
+ 1
836
+ ]
837
+ },
838
+ "color": [
839
+ 63,
840
+ 255,
841
+ 0
842
+ ]
843
+ }
844
+ ]
845
+ },
846
+ "foreground": {
847
+ "escape light": [
848
+ {
849
+ "object_id": "SM_AI_vol12_02_Escape_Light_1_1",
850
+ "bbox_2d": [
851
+ 743,
852
+ 874,
853
+ 843,
854
+ 978
855
+ ],
856
+ "bbox_3d": {
857
+ "aabb": {
858
+ "center": [
859
+ 471.2619019848098,
860
+ -270.1830618249048,
861
+ 245.40414318341737
862
+ ],
863
+ "extent": [
864
+ 8.658907252016093,
865
+ 21.735248673202463,
866
+ 6.977718830108643
867
+ ]
868
+ },
869
+ "obb": {
870
+ "center": [
871
+ 471.2619019848098,
872
+ -270.1830618249048,
873
+ 245.40414318341737
874
+ ],
875
+ "extent": [
876
+ 8.658907252016093,
877
+ 21.735248673202463,
878
+ 6.977718830108643
879
+ ],
880
+ "rotation": [
881
+ 0,
882
+ 79.97726618943237,
883
+ 0
884
+ ]
885
+ },
886
+ "location": [
887
+ 476.25990185975616,
888
+ -271.06638895837244,
889
+ 245.40414318341737
890
+ ],
891
+ "rotation": [
892
+ 0,
893
+ 79.97726618943237,
894
+ 0
895
+ ],
896
+ "scale": [
897
+ 1,
898
+ 1,
899
+ 1
900
+ ]
901
+ },
902
+ "color": [
903
+ 127,
904
+ 191,
905
+ 63
906
+ ]
907
+ }
908
+ ]
909
+ }
910
+ }
scenes/annotations/AIUE5_vol12_02/l014_off0_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,850 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l014_off0_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l014_off0_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -89,
8
+ -395,
9
+ 291
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
+ -89,
38
+ -395,
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
+ 1919,
60
+ 431
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
+ 945,
118
+ 970,
119
+ 1559,
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
+ 857,
180
+ 171
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_6_1",
238
+ "bbox_2d": [
239
+ 1369,
240
+ 351,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ -409.973015258789,
248
+ -793.6599847412109,
249
+ 210.4554709472656
250
+ ],
251
+ "extent": [
252
+ 337.53466796875,
253
+ 141.4675750732422,
254
+ 180.72647094726562
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ -409.973015258789,
260
+ -793.6599847412109,
261
+ 210.4554709472656
262
+ ],
263
+ "extent": [
264
+ 337.53466796875,
265
+ 141.4675750732422,
266
+ 180.72647094726562
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ -409.973,
276
+ -793.66,
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
+ 127
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_7_1",
298
+ "bbox_2d": [
299
+ 198,
300
+ 347,
301
+ 1326,
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
+ 0,
360
+ 326,
361
+ 178,
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
+ "ceiling construction": [
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
420
+ "bbox_2d": [
421
+ 0,
422
+ 0,
423
+ 1093,
424
+ 250
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_6_1",
482
+ "bbox_2d": [
483
+ 1285,
484
+ 965,
485
+ 1408,
486
+ 981
487
+ ],
488
+ "bbox_3d": {
489
+ "aabb": {
490
+ "center": [
491
+ -713.3179209289551,
492
+ -628.0548697814942,
493
+ 386.14321508789067
494
+ ],
495
+ "extent": [
496
+ 61.848880767822266,
497
+ 55.13796615600586,
498
+ 355.4439392089844
499
+ ]
500
+ },
501
+ "obb": {
502
+ "center": [
503
+ -713.3179209289551,
504
+ -628.0548697814942,
505
+ 386.1432150878906
506
+ ],
507
+ "extent": [
508
+ 61.848880767822266,
509
+ 55.13796615600586,
510
+ 355.4439392089844
511
+ ],
512
+ "rotation": [
513
+ 0,
514
+ 0,
515
+ 0
516
+ ]
517
+ },
518
+ "location": [
519
+ -713.306,
520
+ -628.186,
521
+ 29.729
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
+ 63,
537
+ 0
538
+ ]
539
+ },
540
+ {
541
+ "object_id": "SM_AI_vol12_02_Window_7_1",
542
+ "bbox_2d": [
543
+ 93,
544
+ 347,
545
+ 213,
546
+ 821
547
+ ],
548
+ "bbox_3d": {
549
+ "aabb": {
550
+ "center": [
551
+ -429.77315234375,
552
+ -120.02817706298828,
553
+ 202.49139013671873
554
+ ],
555
+ "extent": [
556
+ 35.68157958984375,
557
+ 39.985801696777344,
558
+ 171.5279541015625
559
+ ]
560
+ },
561
+ "obb": {
562
+ "center": [
563
+ -429.77315234375,
564
+ -120.02817706298828,
565
+ 202.49139013671873
566
+ ],
567
+ "extent": [
568
+ 35.68157958984375,
569
+ 39.985801696777344,
570
+ 171.5279541015625
571
+ ],
572
+ "rotation": [
573
+ 0,
574
+ 0,
575
+ 0
576
+ ]
577
+ },
578
+ "location": [
579
+ -429.592,
580
+ -117.767,
581
+ 29.729
582
+ ],
583
+ "rotation": [
584
+ 0,
585
+ 0,
586
+ 0
587
+ ],
588
+ "scale": [
589
+ 1,
590
+ 1,
591
+ 1
592
+ ]
593
+ },
594
+ "color": [
595
+ 127,
596
+ 63,
597
+ 255
598
+ ]
599
+ }
600
+ ],
601
+ "window glass": [
602
+ {
603
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
604
+ "bbox_2d": [
605
+ 1286,
606
+ 430,
607
+ 1407,
608
+ 976
609
+ ],
610
+ "bbox_3d": {
611
+ "aabb": {
612
+ "center": [
613
+ -713.5362570343018,
614
+ -627.9010802612305,
615
+ 386.2503317871094
616
+ ],
617
+ "extent": [
618
+ 60.059295654296875,
619
+ 52.93374252319336,
620
+ 353.8716735839844
621
+ ]
622
+ },
623
+ "obb": {
624
+ "center": [
625
+ -713.5362570343018,
626
+ -627.9010802612305,
627
+ 386.25033178710936
628
+ ],
629
+ "extent": [
630
+ 60.059295654296875,
631
+ 52.93374252319336,
632
+ 353.8716735839844
633
+ ],
634
+ "rotation": [
635
+ 0,
636
+ 0,
637
+ 0
638
+ ]
639
+ },
640
+ "location": [
641
+ -713.306,
642
+ -628.186,
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
+ 63,
658
+ 0,
659
+ 255
660
+ ]
661
+ },
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Window_glass_7_1",
664
+ "bbox_2d": [
665
+ 48,
666
+ 348,
667
+ 288,
668
+ 1079
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ -429.7319993896484,
674
+ -120.46578387451171,
675
+ 202.2577628173828
676
+ ],
677
+ "extent": [
678
+ 33.27091979980469,
679
+ 37.76592254638672,
680
+ 170.1311492919922
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ -429.7319993896484,
686
+ -120.46578387451171,
687
+ 202.2577628173828
688
+ ],
689
+ "extent": [
690
+ 33.27091979980469,
691
+ 37.76592254638672,
692
+ 170.1311492919922
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ -429.592,
702
+ -117.767,
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
+ 63,
718
+ 0,
719
+ 127
720
+ ]
721
+ }
722
+ ]
723
+ },
724
+ "foreground": {
725
+ "halogen": [
726
+ {
727
+ "object_id": "SM_AI_vol12_02_halogen_1_1",
728
+ "bbox_2d": [
729
+ 451,
730
+ 347,
731
+ 508,
732
+ 424
733
+ ],
734
+ "bbox_3d": {
735
+ "aabb": {
736
+ "center": [
737
+ -413.9310100677407,
738
+ -232.98785409215031,
739
+ 343.4466411270422
740
+ ],
741
+ "extent": [
742
+ 5.976463005250821,
743
+ 9.676017022354785,
744
+ 13.420366287231445
745
+ ]
746
+ },
747
+ "obb": {
748
+ "center": [
749
+ -413.9310100677407,
750
+ -232.98785409215031,
751
+ 343.4466411270422
752
+ ],
753
+ "extent": [
754
+ 5.976463005250821,
755
+ 9.676017022354785,
756
+ 13.420366287231445
757
+ ],
758
+ "rotation": [
759
+ 0,
760
+ -95.85149897932936,
761
+ 0
762
+ ]
763
+ },
764
+ "location": [
765
+ -413.65629155295034,
766
+ -232.98822096173257,
767
+ 356.86700741427364
768
+ ],
769
+ "rotation": [
770
+ 0,
771
+ -95.85149897932936,
772
+ 0
773
+ ],
774
+ "scale": [
775
+ 1,
776
+ 1,
777
+ 1
778
+ ]
779
+ },
780
+ "color": [
781
+ 63,
782
+ 127,
783
+ 63
784
+ ]
785
+ }
786
+ ],
787
+ "image": [
788
+ {
789
+ "object_id": "SM_AI_vol12_02_Image_6_1",
790
+ "bbox_2d": [
791
+ 717,
792
+ 679,
793
+ 909,
794
+ 887
795
+ ],
796
+ "bbox_3d": {
797
+ "aabb": {
798
+ "center": [
799
+ -539.4445398360865,
800
+ -327.5182160917665,
801
+ 179.66616442898865
802
+ ],
803
+ "extent": [
804
+ 26.412077427546933,
805
+ 43.381530199136535,
806
+ 42.884158230724694
807
+ ]
808
+ },
809
+ "obb": {
810
+ "center": [
811
+ -539.4445398360865,
812
+ -327.5182160917665,
813
+ 179.66616442898865
814
+ ],
815
+ "extent": [
816
+ 26.412077427546933,
817
+ 43.381530199136535,
818
+ 42.884158230724694
819
+ ],
820
+ "rotation": [
821
+ -5.645484559597742e-14,
822
+ -117.78332075815584,
823
+ -3.384932235824407
824
+ ]
825
+ },
826
+ "location": [
827
+ -537.8068422836224,
828
+ -328.38105704305684,
829
+ 179.77565114199106
830
+ ],
831
+ "rotation": [
832
+ -5.645484559597742e-14,
833
+ -117.78332075815584,
834
+ -3.384932235824407
835
+ ],
836
+ "scale": [
837
+ 0.5702713131904602,
838
+ 0.5702713131904602,
839
+ 0.5702713131904602
840
+ ]
841
+ },
842
+ "color": [
843
+ 191,
844
+ 191,
845
+ 63
846
+ ]
847
+ }
848
+ ]
849
+ }
850
+ }
scenes/annotations/AIUE5_vol12_02/l019_off1_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,1092 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l019_off1_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l019_off1_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 273,
8
+ -657,
9
+ 321
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
+ 273,
38
+ -657,
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
+ 499
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
+ 835,
119
+ 1226,
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
+ 1148,
180
+ 423
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_5_1",
238
+ "bbox_2d": [
239
+ 1663,
240
+ 381,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 222.24028076171874,
248
+ -925.8515427093506,
249
+ 214.49045935058592
250
+ ],
251
+ "extent": [
252
+ 300.5262451171875,
253
+ 54.29796600341797,
254
+ 184.76145935058594
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 222.24028076171874,
260
+ -925.8515427093506,
261
+ 214.49045935058592
262
+ ],
263
+ "extent": [
264
+ 300.5262451171875,
265
+ 54.29796600341797,
266
+ 184.76145935058594
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 223.265,
276
+ -926.773,
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
+ 127
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_6_1",
298
+ "bbox_2d": [
299
+ 955,
300
+ 422,
301
+ 1663,
302
+ 1079
303
+ ],
304
+ "bbox_3d": {
305
+ "aabb": {
306
+ "center": [
307
+ -409.973015258789,
308
+ -793.6599847412109,
309
+ 210.4554709472656
310
+ ],
311
+ "extent": [
312
+ 337.53466796875,
313
+ 141.4675750732422,
314
+ 180.72647094726562
315
+ ]
316
+ },
317
+ "obb": {
318
+ "center": [
319
+ -409.973015258789,
320
+ -793.6599847412109,
321
+ 210.4554709472656
322
+ ],
323
+ "extent": [
324
+ 337.53466796875,
325
+ 141.4675750732422,
326
+ 180.72647094726562
327
+ ],
328
+ "rotation": [
329
+ 0,
330
+ 0,
331
+ 0
332
+ ]
333
+ },
334
+ "location": [
335
+ -409.973,
336
+ -793.66,
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
+ 127
354
+ ]
355
+ },
356
+ {
357
+ "object_id": "SM_AI_vol12_02_Wall_7_1",
358
+ "bbox_2d": [
359
+ 234,
360
+ 485,
361
+ 942,
362
+ 933
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ -596.738,
368
+ -366.425015258789,
369
+ 210.4329337158203
370
+ ],
371
+ "extent": [
372
+ 162.47100830078125,
373
+ 277.39666748046875,
374
+ 180.7039337158203
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ -596.738,
380
+ -366.425015258789,
381
+ 210.4329337158203
382
+ ],
383
+ "extent": [
384
+ 162.47100830078125,
385
+ 277.39666748046875,
386
+ 180.7039337158203
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ -596.738,
396
+ -366.425,
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
+ 0
414
+ ]
415
+ },
416
+ {
417
+ "object_id": "SM_AI_vol12_02_Wall_8_1",
418
+ "bbox_2d": [
419
+ 0,
420
+ 476,
421
+ 220,
422
+ 989
423
+ ],
424
+ "bbox_3d": {
425
+ "aabb": {
426
+ "center": [
427
+ -254.78200000000004,
428
+ 128.015,
429
+ 210.4329337158203
430
+ ],
431
+ "extent": [
432
+ 217.4521026611328,
433
+ 232.69874572753906,
434
+ 180.7039337158203
435
+ ]
436
+ },
437
+ "obb": {
438
+ "center": [
439
+ -254.78200000000004,
440
+ 128.015,
441
+ 210.4329337158203
442
+ ],
443
+ "extent": [
444
+ 217.4521026611328,
445
+ 232.69874572753906,
446
+ 180.7039337158203
447
+ ],
448
+ "rotation": [
449
+ 0,
450
+ 0,
451
+ 0
452
+ ]
453
+ },
454
+ "location": [
455
+ -254.782,
456
+ 128.015,
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
+ 127,
472
+ 0,
473
+ 255
474
+ ]
475
+ }
476
+ ],
477
+ "ceiling construction": [
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
480
+ "bbox_2d": [
481
+ 0,
482
+ 72,
483
+ 1450,
484
+ 629
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ 14.060200000000009,
490
+ -466.8179847412109,
491
+ 344.82342364501955
492
+ ],
493
+ "extent": [
494
+ 392.0332946777344,
495
+ 374.09112548828125,
496
+ 53.95142364501953
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ 14.060200000000009,
502
+ -466.8179847412109,
503
+ 344.82342364501955
504
+ ],
505
+ "extent": [
506
+ 392.0332946777344,
507
+ 374.09112548828125,
508
+ 53.95142364501953
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ 14.0602,
518
+ -466.818,
519
+ 290.872
520
+ ],
521
+ "rotation": [
522
+ 0,
523
+ 0,
524
+ 0
525
+ ],
526
+ "scale": [
527
+ 1,
528
+ 1,
529
+ 1
530
+ ]
531
+ },
532
+ "color": [
533
+ 255,
534
+ 0,
535
+ 63
536
+ ]
537
+ }
538
+ ],
539
+ "floor glass": [
540
+ {
541
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
542
+ "bbox_2d": [
543
+ 0,
544
+ 0,
545
+ 501,
546
+ 358
547
+ ],
548
+ "bbox_3d": {
549
+ "aabb": {
550
+ "center": [
551
+ 12.276647143554683,
552
+ -409.4788231201171,
553
+ 399.4571883544922
554
+ ],
555
+ "extent": [
556
+ 250.27244567871094,
557
+ 216.33436584472653,
558
+ 0.0432586669921875
559
+ ]
560
+ },
561
+ "obb": {
562
+ "center": [
563
+ 12.276647143554698,
564
+ -409.4788231201171,
565
+ 399.4571883544922
566
+ ],
567
+ "extent": [
568
+ 250.27244567871094,
569
+ 216.33436584472653,
570
+ 0.0432586669921875
571
+ ],
572
+ "rotation": [
573
+ 0,
574
+ 0,
575
+ 0
576
+ ]
577
+ },
578
+ "location": [
579
+ 15.1527,
580
+ -467.032,
581
+ 399.161
582
+ ],
583
+ "rotation": [
584
+ 0,
585
+ 0,
586
+ 0
587
+ ],
588
+ "scale": [
589
+ 1,
590
+ 1,
591
+ 1
592
+ ]
593
+ },
594
+ "color": [
595
+ 127,
596
+ 0,
597
+ 63
598
+ ]
599
+ }
600
+ ],
601
+ "window": [
602
+ {
603
+ "object_id": "SM_AI_vol12_02_Window_5_1",
604
+ "bbox_2d": [
605
+ 1527,
606
+ 467,
607
+ 1663,
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
+ "object_id": "SM_AI_vol12_02_Window_6_1",
664
+ "bbox_2d": [
665
+ 888,
666
+ 832,
667
+ 954,
668
+ 839
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ -713.3179209289551,
674
+ -628.0548697814942,
675
+ 386.14321508789067
676
+ ],
677
+ "extent": [
678
+ 61.848880767822266,
679
+ 55.13796615600586,
680
+ 355.4439392089844
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ -713.3179209289551,
686
+ -628.0548697814942,
687
+ 386.1432150878906
688
+ ],
689
+ "extent": [
690
+ 61.848880767822266,
691
+ 55.13796615600586,
692
+ 355.4439392089844
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ -713.306,
702
+ -628.186,
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
+ 127,
718
+ 63,
719
+ 0
720
+ ]
721
+ },
722
+ {
723
+ "object_id": "SM_AI_vol12_02_Window_7_1",
724
+ "bbox_2d": [
725
+ 145,
726
+ 484,
727
+ 286,
728
+ 955
729
+ ],
730
+ "bbox_3d": {
731
+ "aabb": {
732
+ "center": [
733
+ -429.77315234375,
734
+ -120.02817706298828,
735
+ 202.49139013671873
736
+ ],
737
+ "extent": [
738
+ 35.68157958984375,
739
+ 39.985801696777344,
740
+ 171.5279541015625
741
+ ]
742
+ },
743
+ "obb": {
744
+ "center": [
745
+ -429.77315234375,
746
+ -120.02817706298828,
747
+ 202.49139013671873
748
+ ],
749
+ "extent": [
750
+ 35.68157958984375,
751
+ 39.985801696777344,
752
+ 171.5279541015625
753
+ ],
754
+ "rotation": [
755
+ 0,
756
+ 0,
757
+ 0
758
+ ]
759
+ },
760
+ "location": [
761
+ -429.592,
762
+ -117.767,
763
+ 29.729
764
+ ],
765
+ "rotation": [
766
+ 0,
767
+ 0,
768
+ 0
769
+ ],
770
+ "scale": [
771
+ 1,
772
+ 1,
773
+ 1
774
+ ]
775
+ },
776
+ "color": [
777
+ 127,
778
+ 63,
779
+ 255
780
+ ]
781
+ }
782
+ ],
783
+ "window glass": [
784
+ {
785
+ "object_id": "SM_AI_vol12_02_Window_glass_5_1",
786
+ "bbox_2d": [
787
+ 1539,
788
+ 525,
789
+ 1663,
790
+ 1079
791
+ ],
792
+ "bbox_3d": {
793
+ "aabb": {
794
+ "center": [
795
+ -64.51585088766417,
796
+ -895.8478194094979,
797
+ 202.9212912597656
798
+ ],
799
+ "extent": [
800
+ 42.015435022473454,
801
+ 28.88885540970648,
802
+ 170.85858154296875
803
+ ]
804
+ },
805
+ "obb": {
806
+ "center": [
807
+ -64.51585088766417,
808
+ -895.8478194094979,
809
+ 202.9212912597656
810
+ ],
811
+ "extent": [
812
+ 42.015435022473454,
813
+ 28.88885540970648,
814
+ 170.85858154296875
815
+ ],
816
+ "rotation": [
817
+ 0,
818
+ 0.5048283882766836,
819
+ 0
820
+ ]
821
+ },
822
+ "location": [
823
+ -65.3612,
824
+ -893.331,
825
+ 29.729
826
+ ],
827
+ "rotation": [
828
+ 0,
829
+ 0.5048283882766836,
830
+ 0
831
+ ],
832
+ "scale": [
833
+ 1,
834
+ 1,
835
+ 1
836
+ ]
837
+ },
838
+ "color": [
839
+ 63,
840
+ 0,
841
+ 0
842
+ ]
843
+ },
844
+ {
845
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
846
+ "bbox_2d": [
847
+ 889,
848
+ 499,
849
+ 965,
850
+ 836
851
+ ],
852
+ "bbox_3d": {
853
+ "aabb": {
854
+ "center": [
855
+ -713.5362570343018,
856
+ -627.9010802612305,
857
+ 386.2503317871094
858
+ ],
859
+ "extent": [
860
+ 60.059295654296875,
861
+ 52.93374252319336,
862
+ 353.8716735839844
863
+ ]
864
+ },
865
+ "obb": {
866
+ "center": [
867
+ -713.5362570343018,
868
+ -627.9010802612305,
869
+ 386.25033178710936
870
+ ],
871
+ "extent": [
872
+ 60.059295654296875,
873
+ 52.93374252319336,
874
+ 353.8716735839844
875
+ ],
876
+ "rotation": [
877
+ 0,
878
+ 0,
879
+ 0
880
+ ]
881
+ },
882
+ "location": [
883
+ -713.306,
884
+ -628.186,
885
+ 29.729
886
+ ],
887
+ "rotation": [
888
+ 0,
889
+ 0,
890
+ 0
891
+ ],
892
+ "scale": [
893
+ 1,
894
+ 1,
895
+ 1
896
+ ]
897
+ },
898
+ "color": [
899
+ 63,
900
+ 0,
901
+ 255
902
+ ]
903
+ },
904
+ {
905
+ "object_id": "SM_AI_vol12_02_Window_glass_7_1",
906
+ "bbox_2d": [
907
+ 145,
908
+ 504,
909
+ 286,
910
+ 950
911
+ ],
912
+ "bbox_3d": {
913
+ "aabb": {
914
+ "center": [
915
+ -429.7319993896484,
916
+ -120.46578387451171,
917
+ 202.2577628173828
918
+ ],
919
+ "extent": [
920
+ 33.27091979980469,
921
+ 37.76592254638672,
922
+ 170.1311492919922
923
+ ]
924
+ },
925
+ "obb": {
926
+ "center": [
927
+ -429.7319993896484,
928
+ -120.46578387451171,
929
+ 202.2577628173828
930
+ ],
931
+ "extent": [
932
+ 33.27091979980469,
933
+ 37.76592254638672,
934
+ 170.1311492919922
935
+ ],
936
+ "rotation": [
937
+ 0,
938
+ 0,
939
+ 0
940
+ ]
941
+ },
942
+ "location": [
943
+ -429.592,
944
+ -117.767,
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
+ 63,
960
+ 0,
961
+ 127
962
+ ]
963
+ }
964
+ ]
965
+ },
966
+ "foreground": {
967
+ "halogen": [
968
+ {
969
+ "object_id": "SM_AI_vol12_02_halogen_1_1",
970
+ "bbox_2d": [
971
+ 352,
972
+ 491,
973
+ 374,
974
+ 524
975
+ ],
976
+ "bbox_3d": {
977
+ "aabb": {
978
+ "center": [
979
+ -413.9310100677407,
980
+ -232.98785409215031,
981
+ 343.4466411270422
982
+ ],
983
+ "extent": [
984
+ 5.976463005250821,
985
+ 9.676017022354785,
986
+ 13.420366287231445
987
+ ]
988
+ },
989
+ "obb": {
990
+ "center": [
991
+ -413.9310100677407,
992
+ -232.98785409215031,
993
+ 343.4466411270422
994
+ ],
995
+ "extent": [
996
+ 5.976463005250821,
997
+ 9.676017022354785,
998
+ 13.420366287231445
999
+ ],
1000
+ "rotation": [
1001
+ 0,
1002
+ -95.85149897932936,
1003
+ 0
1004
+ ]
1005
+ },
1006
+ "location": [
1007
+ -413.65629155295034,
1008
+ -232.98822096173257,
1009
+ 356.86700741427364
1010
+ ],
1011
+ "rotation": [
1012
+ 0,
1013
+ -95.85149897932936,
1014
+ 0
1015
+ ],
1016
+ "scale": [
1017
+ 1,
1018
+ 1,
1019
+ 1
1020
+ ]
1021
+ },
1022
+ "color": [
1023
+ 63,
1024
+ 127,
1025
+ 63
1026
+ ]
1027
+ }
1028
+ ],
1029
+ "image": [
1030
+ {
1031
+ "object_id": "SM_AI_vol12_02_Image_6_1",
1032
+ "bbox_2d": [
1033
+ 511,
1034
+ 653,
1035
+ 628,
1036
+ 763
1037
+ ],
1038
+ "bbox_3d": {
1039
+ "aabb": {
1040
+ "center": [
1041
+ -539.4445398360865,
1042
+ -327.5182160917665,
1043
+ 179.66616442898865
1044
+ ],
1045
+ "extent": [
1046
+ 26.412077427546933,
1047
+ 43.381530199136535,
1048
+ 42.884158230724694
1049
+ ]
1050
+ },
1051
+ "obb": {
1052
+ "center": [
1053
+ -539.4445398360865,
1054
+ -327.5182160917665,
1055
+ 179.66616442898865
1056
+ ],
1057
+ "extent": [
1058
+ 26.412077427546933,
1059
+ 43.381530199136535,
1060
+ 42.884158230724694
1061
+ ],
1062
+ "rotation": [
1063
+ -5.645484559597742e-14,
1064
+ -117.78332075815584,
1065
+ -3.384932235824407
1066
+ ]
1067
+ },
1068
+ "location": [
1069
+ -537.8068422836224,
1070
+ -328.38105704305684,
1071
+ 179.77565114199106
1072
+ ],
1073
+ "rotation": [
1074
+ -5.645484559597742e-14,
1075
+ -117.78332075815584,
1076
+ -3.384932235824407
1077
+ ],
1078
+ "scale": [
1079
+ 0.5702713131904602,
1080
+ 0.5702713131904602,
1081
+ 0.5702713131904602
1082
+ ]
1083
+ },
1084
+ "color": [
1085
+ 191,
1086
+ 191,
1087
+ 63
1088
+ ]
1089
+ }
1090
+ ]
1091
+ }
1092
+ }
scenes/annotations/AIUE5_vol12_02/l021_off0_r005/scene_annotations_split.json ADDED
@@ -0,0 +1,912 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l021_off0_r005",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l021_off0_r005/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -275,
8
+ -487,
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
+ -275,
38
+ -487,
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
+ 1919,
60
+ 451
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
+ 990,
118
+ 888,
119
+ 1919,
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
+ 1102,
178
+ 0,
179
+ 1812,
180
+ 276
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
+ 1539,
240
+ 416,
241
+ 1919,
242
+ 1001
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
+ 884,
300
+ 391,
301
+ 1488,
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
+ 236,
361
+ 883,
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
+ 1056,
422
+ 0,
423
+ 1919,
424
+ 385
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
+ 1635,
484
+ 59,
485
+ 1919,
486
+ 140
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
+ 1477,
546
+ 450,
547
+ 1674,
548
+ 911
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
+ 883,
606
+ 417,
607
+ 1004,
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
+ 1477,
668
+ 450,
669
+ 1669,
670
+ 907
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
+ 879,
728
+ 452,
729
+ 997,
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
+ 1323,
792
+ 387,
793
+ 1919,
794
+ 419
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
+ 1747,
854
+ 516,
855
+ 1919,
856
+ 873
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/l022_off1_r001/scene_annotations_split.json ADDED
@@ -0,0 +1,1522 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l022_off1_r001",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l022_off1_r001/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -201,
8
+ -667,
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
+ -201,
38
+ -667,
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
+ 495
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_3_1",
116
+ "bbox_2d": [
117
+ 939,
118
+ 930,
119
+ 956,
120
+ 930
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ -86.11256274414063,
126
+ -331.5918771972656,
127
+ 14.864501953125
128
+ ],
129
+ "extent": [
130
+ 590.5438232421875,
131
+ 598.960205078125,
132
+ 14.864501953125
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ -86.11256274414063,
138
+ -331.5918771972656,
139
+ 14.864501953125
140
+ ],
141
+ "extent": [
142
+ 590.5438232421875,
143
+ 598.960205078125,
144
+ 14.864501953125
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ -100.067,
154
+ -307.299,
155
+ 0
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
+ 63
172
+ ]
173
+ },
174
+ {
175
+ "object_id": "SM_AI_vol12_02_Floor_4_1",
176
+ "bbox_2d": [
177
+ 132,
178
+ 855,
179
+ 1657,
180
+ 1079
181
+ ],
182
+ "bbox_3d": {
183
+ "aabb": {
184
+ "center": [
185
+ -85.68488818359378,
186
+ -331.4413950195312,
187
+ 30.228998092651366
188
+ ],
189
+ "extent": [
190
+ 589.0018920898438,
191
+ 598.1265258789062,
192
+ 0.4999980926513672
193
+ ]
194
+ },
195
+ "obb": {
196
+ "center": [
197
+ -85.68488818359378,
198
+ -331.4413950195312,
199
+ 30.228998092651366
200
+ ],
201
+ "extent": [
202
+ 589.0018920898438,
203
+ 598.1265258789062,
204
+ 0.4999980926513672
205
+ ],
206
+ "rotation": [
207
+ 0,
208
+ 0,
209
+ 0
210
+ ]
211
+ },
212
+ "location": [
213
+ -99.5995,
214
+ -307.299,
215
+ 29.729
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
+ 127,
231
+ 63
232
+ ]
233
+ },
234
+ {
235
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
236
+ "bbox_2d": [
237
+ 0,
238
+ 0,
239
+ 1806,
240
+ 426
241
+ ],
242
+ "bbox_3d": {
243
+ "aabb": {
244
+ "center": [
245
+ 15.152699999999982,
246
+ -467.03198474121086,
247
+ 399.3307082519531
248
+ ],
249
+ "extent": [
250
+ 390.8625183105469,
251
+ 373.12469482421875,
252
+ 0.169708251953125
253
+ ]
254
+ },
255
+ "obb": {
256
+ "center": [
257
+ 15.152699999999982,
258
+ -467.03198474121086,
259
+ 399.3307082519531
260
+ ],
261
+ "extent": [
262
+ 390.8625183105469,
263
+ 373.12469482421875,
264
+ 0.169708251953125
265
+ ],
266
+ "rotation": [
267
+ 0,
268
+ 0,
269
+ 0
270
+ ]
271
+ },
272
+ "location": [
273
+ 15.1527,
274
+ -467.032,
275
+ 399.161
276
+ ],
277
+ "rotation": [
278
+ 0,
279
+ 0,
280
+ 0
281
+ ],
282
+ "scale": [
283
+ 1,
284
+ 1,
285
+ 1
286
+ ]
287
+ },
288
+ "color": [
289
+ 0,
290
+ 63,
291
+ 0
292
+ ]
293
+ }
294
+ ],
295
+ "wall": [
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_1_1",
298
+ "bbox_2d": [
299
+ 904,
300
+ 483,
301
+ 1296,
302
+ 933
303
+ ],
304
+ "bbox_3d": {
305
+ "aabb": {
306
+ "center": [
307
+ 93.24939999999998,
308
+ 133.91399237060546,
309
+ 210.14428320312498
310
+ ],
311
+ "extent": [
312
+ 111.80139923095703,
313
+ 209.30471801757812,
314
+ 180.415283203125
315
+ ]
316
+ },
317
+ "obb": {
318
+ "center": [
319
+ 93.2494,
320
+ 133.91399237060546,
321
+ 210.14428320312498
322
+ ],
323
+ "extent": [
324
+ 111.80139923095703,
325
+ 209.30471801757812,
326
+ 180.415283203125
327
+ ],
328
+ "rotation": [
329
+ 0,
330
+ 0,
331
+ 0
332
+ ]
333
+ },
334
+ "location": [
335
+ 93.2494,
336
+ 133.914,
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
+ 0
354
+ ]
355
+ },
356
+ {
357
+ "object_id": "SM_AI_vol12_02_Wall_2_1",
358
+ "bbox_2d": [
359
+ 615,
360
+ 483,
361
+ 893,
362
+ 933
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ 356.714015258789,
368
+ -77.27309713897705,
369
+ 210.14428320312498
370
+ ],
371
+ "extent": [
372
+ 164.57118225097653,
373
+ 23.48920440673828,
374
+ 180.415283203125
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ 356.714015258789,
380
+ -77.27309713897705,
381
+ 210.14428320312498
382
+ ],
383
+ "extent": [
384
+ 164.57118225097653,
385
+ 23.48920440673828,
386
+ 180.415283203125
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ 356.714,
396
+ -77.2731,
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
+ 255
414
+ ]
415
+ },
416
+ {
417
+ "object_id": "SM_AI_vol12_02_Wall_3_1",
418
+ "bbox_2d": [
419
+ 242,
420
+ 472,
421
+ 583,
422
+ 1028
423
+ ],
424
+ "bbox_3d": {
425
+ "aabb": {
426
+ "center": [
427
+ 492.289,
428
+ -232.0970076293945,
429
+ 210.30126562499998
430
+ ],
431
+ "extent": [
432
+ 55.04327392578125,
433
+ 149.878173828125,
434
+ 180.572265625
435
+ ]
436
+ },
437
+ "obb": {
438
+ "center": [
439
+ 492.289,
440
+ -232.0970076293945,
441
+ 210.30126562499998
442
+ ],
443
+ "extent": [
444
+ 55.04327392578125,
445
+ 149.878173828125,
446
+ 180.572265625
447
+ ],
448
+ "rotation": [
449
+ 0,
450
+ 0,
451
+ 0
452
+ ]
453
+ },
454
+ "location": [
455
+ 492.289,
456
+ -232.097,
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
+ 0
474
+ ]
475
+ },
476
+ {
477
+ "object_id": "SM_AI_vol12_02_Wall_4_1",
478
+ "bbox_2d": [
479
+ 0,
480
+ 462,
481
+ 270,
482
+ 1079
483
+ ],
484
+ "bbox_3d": {
485
+ "aabb": {
486
+ "center": [
487
+ 489.6886770629883,
488
+ -663.5999932861328,
489
+ 214.63871374511717
490
+ ],
491
+ "extent": [
492
+ 52.443214416503906,
493
+ 285.02001953125,
494
+ 184.9097137451172
495
+ ]
496
+ },
497
+ "obb": {
498
+ "center": [
499
+ 489.6886770629883,
500
+ -663.5999932861328,
501
+ 214.63871374511717
502
+ ],
503
+ "extent": [
504
+ 52.443214416503906,
505
+ 285.02001953125,
506
+ 184.9097137451172
507
+ ],
508
+ "rotation": [
509
+ 0,
510
+ 0,
511
+ 0
512
+ ]
513
+ },
514
+ "location": [
515
+ 490.49,
516
+ -664.06,
517
+ 29.729
518
+ ],
519
+ "rotation": [
520
+ 0,
521
+ 0,
522
+ 0
523
+ ],
524
+ "scale": [
525
+ 1,
526
+ 1,
527
+ 1
528
+ ]
529
+ },
530
+ "color": [
531
+ 255,
532
+ 127,
533
+ 255
534
+ ]
535
+ },
536
+ {
537
+ "object_id": "SM_AI_vol12_02_Wall_8_1",
538
+ "bbox_2d": [
539
+ 1324,
540
+ 453,
541
+ 1919,
542
+ 1070
543
+ ],
544
+ "bbox_3d": {
545
+ "aabb": {
546
+ "center": [
547
+ -254.78200000000004,
548
+ 128.015,
549
+ 210.4329337158203
550
+ ],
551
+ "extent": [
552
+ 217.4521026611328,
553
+ 232.69874572753906,
554
+ 180.7039337158203
555
+ ]
556
+ },
557
+ "obb": {
558
+ "center": [
559
+ -254.78200000000004,
560
+ 128.015,
561
+ 210.4329337158203
562
+ ],
563
+ "extent": [
564
+ 217.4521026611328,
565
+ 232.69874572753906,
566
+ 180.7039337158203
567
+ ],
568
+ "rotation": [
569
+ 0,
570
+ 0,
571
+ 0
572
+ ]
573
+ },
574
+ "location": [
575
+ -254.782,
576
+ 128.015,
577
+ 29.729
578
+ ],
579
+ "rotation": [
580
+ 0,
581
+ 0,
582
+ 0
583
+ ],
584
+ "scale": [
585
+ 1,
586
+ 1,
587
+ 1
588
+ ]
589
+ },
590
+ "color": [
591
+ 127,
592
+ 0,
593
+ 255
594
+ ]
595
+ }
596
+ ],
597
+ "ceiling construction": [
598
+ {
599
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_1_1",
600
+ "bbox_2d": [
601
+ 0,
602
+ 0,
603
+ 1919,
604
+ 622
605
+ ],
606
+ "bbox_3d": {
607
+ "aabb": {
608
+ "center": [
609
+ 14.060200000000009,
610
+ -466.8179847412109,
611
+ 344.82342364501955
612
+ ],
613
+ "extent": [
614
+ 392.0332946777344,
615
+ 374.09112548828125,
616
+ 53.95142364501953
617
+ ]
618
+ },
619
+ "obb": {
620
+ "center": [
621
+ 14.060200000000009,
622
+ -466.8179847412109,
623
+ 344.82342364501955
624
+ ],
625
+ "extent": [
626
+ 392.0332946777344,
627
+ 374.09112548828125,
628
+ 53.95142364501953
629
+ ],
630
+ "rotation": [
631
+ 0,
632
+ 0,
633
+ 0
634
+ ]
635
+ },
636
+ "location": [
637
+ 14.0602,
638
+ -466.818,
639
+ 290.872
640
+ ],
641
+ "rotation": [
642
+ 0,
643
+ 0,
644
+ 0
645
+ ],
646
+ "scale": [
647
+ 1,
648
+ 1,
649
+ 1
650
+ ]
651
+ },
652
+ "color": [
653
+ 255,
654
+ 0,
655
+ 63
656
+ ]
657
+ }
658
+ ],
659
+ "floor glass": [
660
+ {
661
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
662
+ "bbox_2d": [
663
+ 0,
664
+ 50,
665
+ 1486,
666
+ 404
667
+ ],
668
+ "bbox_3d": {
669
+ "aabb": {
670
+ "center": [
671
+ 12.276647143554683,
672
+ -409.4788231201171,
673
+ 399.4571883544922
674
+ ],
675
+ "extent": [
676
+ 250.27244567871094,
677
+ 216.33436584472653,
678
+ 0.0432586669921875
679
+ ]
680
+ },
681
+ "obb": {
682
+ "center": [
683
+ 12.276647143554698,
684
+ -409.4788231201171,
685
+ 399.4571883544922
686
+ ],
687
+ "extent": [
688
+ 250.27244567871094,
689
+ 216.33436584472653,
690
+ 0.0432586669921875
691
+ ],
692
+ "rotation": [
693
+ 0,
694
+ 0,
695
+ 0
696
+ ]
697
+ },
698
+ "location": [
699
+ 15.1527,
700
+ -467.032,
701
+ 399.161
702
+ ],
703
+ "rotation": [
704
+ 0,
705
+ 0,
706
+ 0
707
+ ],
708
+ "scale": [
709
+ 1,
710
+ 1,
711
+ 1
712
+ ]
713
+ },
714
+ "color": [
715
+ 127,
716
+ 0,
717
+ 63
718
+ ]
719
+ }
720
+ ],
721
+ "stairs": [
722
+ {
723
+ "object_id": "SM_AI_vol12_02_Stairs_1_1",
724
+ "bbox_2d": [
725
+ 1000,
726
+ 457,
727
+ 1636,
728
+ 999
729
+ ],
730
+ "bbox_3d": {
731
+ "aabb": {
732
+ "center": [
733
+ -80.33650762939453,
734
+ 44.849199999999996,
735
+ 249.99920270996097
736
+ ],
737
+ "extent": [
738
+ 193.55096435546875,
739
+ 152.25680541992188,
740
+ 220.00340270996094
741
+ ]
742
+ },
743
+ "obb": {
744
+ "center": [
745
+ -80.33650762939453,
746
+ 44.849199999999996,
747
+ 249.99920270996094
748
+ ],
749
+ "extent": [
750
+ 193.55096435546875,
751
+ 152.25680541992188,
752
+ 220.00340270996094
753
+ ],
754
+ "rotation": [
755
+ 0,
756
+ 0,
757
+ 0
758
+ ]
759
+ },
760
+ "location": [
761
+ -80.3365,
762
+ 44.8492,
763
+ 29.9958
764
+ ],
765
+ "rotation": [
766
+ 0,
767
+ 0,
768
+ 0
769
+ ],
770
+ "scale": [
771
+ 1,
772
+ 1,
773
+ 1
774
+ ]
775
+ },
776
+ "color": [
777
+ 127,
778
+ 127,
779
+ 63
780
+ ]
781
+ }
782
+ ],
783
+ "window": [
784
+ {
785
+ "object_id": "SM_AI_vol12_02_Window_1_1",
786
+ "bbox_2d": [
787
+ 1241,
788
+ 852,
789
+ 1338,
790
+ 860
791
+ ],
792
+ "bbox_3d": {
793
+ "aabb": {
794
+ "center": [
795
+ -27.202862857055663,
796
+ 300.2924813079834,
797
+ 383.73327246093754
798
+ ],
799
+ "extent": [
800
+ 48.116615295410156,
801
+ 72.9643325805664,
802
+ 352.9642333984375
803
+ ]
804
+ },
805
+ "obb": {
806
+ "center": [
807
+ -27.202862857055663,
808
+ 300.2924813079834,
809
+ 383.7332724609375
810
+ ],
811
+ "extent": [
812
+ 48.116615295410156,
813
+ 72.9643325805664,
814
+ 352.9642333984375
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
+ 0,
840
+ 63,
841
+ 255
842
+ ]
843
+ },
844
+ {
845
+ "object_id": "SM_AI_vol12_02_Window_2_1",
846
+ "bbox_2d": [
847
+ 837,
848
+ 484,
849
+ 956,
850
+ 929
851
+ ],
852
+ "bbox_3d": {
853
+ "aabb": {
854
+ "center": [
855
+ 197.11,
856
+ -70.4276,
857
+ 203.33648068847657
858
+ ],
859
+ "extent": [
860
+ 40.70147705078125,
861
+ 26.7047119140625,
862
+ 171.80458068847656
863
+ ]
864
+ },
865
+ "obb": {
866
+ "center": [
867
+ 197.11,
868
+ -70.4276,
869
+ 203.33648068847657
870
+ ],
871
+ "extent": [
872
+ 40.70147705078125,
873
+ 26.7047119140625,
874
+ 171.80458068847656
875
+ ],
876
+ "rotation": [
877
+ 0,
878
+ 0,
879
+ 0
880
+ ]
881
+ },
882
+ "location": [
883
+ 197.11,
884
+ -70.4276,
885
+ 31.5319
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
+ 127
902
+ ]
903
+ },
904
+ {
905
+ "object_id": "SM_AI_vol12_02_Window_3_1",
906
+ "bbox_2d": [
907
+ 563,
908
+ 877,
909
+ 646,
910
+ 886
911
+ ],
912
+ "bbox_3d": {
913
+ "aabb": {
914
+ "center": [
915
+ 491.6927145996094,
916
+ -100.73671903076172,
917
+ 348.7504233398438
918
+ ],
919
+ "extent": [
920
+ 55.44790649414065,
921
+ 42.235069274902344,
922
+ 317.89764404296875
923
+ ]
924
+ },
925
+ "obb": {
926
+ "center": [
927
+ 491.6927145996094,
928
+ -100.73671903076172,
929
+ 348.75042333984373
930
+ ],
931
+ "extent": [
932
+ 55.44790649414065,
933
+ 42.235069274902344,
934
+ 317.89764404296875
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
+ 0
962
+ ]
963
+ }
964
+ ],
965
+ "window glass": [
966
+ {
967
+ "object_id": "SM_AI_vol12_02_Window_glass_1_1",
968
+ "bbox_2d": [
969
+ 1242,
970
+ 500,
971
+ 1338,
972
+ 857
973
+ ],
974
+ "bbox_3d": {
975
+ "aabb": {
976
+ "center": [
977
+ -27.148480532836913,
978
+ 300.574580078125,
979
+ 383.29677954101567
980
+ ],
981
+ "extent": [
982
+ 45.95030975341797,
983
+ 70.68048095703125,
984
+ 351.5565490722656
985
+ ]
986
+ },
987
+ "obb": {
988
+ "center": [
989
+ -27.148480532836913,
990
+ 300.574580078125,
991
+ 383.2967795410156
992
+ ],
993
+ "extent": [
994
+ 45.95030975341797,
995
+ 70.68048095703125,
996
+ 351.5565490722656
997
+ ],
998
+ "rotation": [
999
+ 0,
1000
+ 0,
1001
+ 0
1002
+ ]
1003
+ },
1004
+ "location": [
1005
+ -27.2457,
1006
+ 290.13,
1007
+ 29.729
1008
+ ],
1009
+ "rotation": [
1010
+ 0,
1011
+ 0,
1012
+ 0
1013
+ ],
1014
+ "scale": [
1015
+ 1,
1016
+ 1,
1017
+ 1
1018
+ ]
1019
+ },
1020
+ "color": [
1021
+ 127,
1022
+ 63,
1023
+ 127
1024
+ ]
1025
+ },
1026
+ {
1027
+ "object_id": "SM_AI_vol12_02_Window_glass_2_1",
1028
+ "bbox_2d": [
1029
+ 840,
1030
+ 485,
1031
+ 954,
1032
+ 925
1033
+ ],
1034
+ "bbox_3d": {
1035
+ "aabb": {
1036
+ "center": [
1037
+ 197.142,
1038
+ -70.4178,
1039
+ 203.24713515625
1040
+ ],
1041
+ "extent": [
1042
+ 37.23919677734375,
1043
+ 22.606124877929688,
1044
+ 169.93603515625
1045
+ ]
1046
+ },
1047
+ "obb": {
1048
+ "center": [
1049
+ 197.142,
1050
+ -70.4178,
1051
+ 203.24713515625
1052
+ ],
1053
+ "extent": [
1054
+ 37.23919677734375,
1055
+ 22.606124877929688,
1056
+ 169.93603515625
1057
+ ],
1058
+ "rotation": [
1059
+ 0,
1060
+ 0,
1061
+ 0
1062
+ ]
1063
+ },
1064
+ "location": [
1065
+ 197.142,
1066
+ -70.4178,
1067
+ 33.3111
1068
+ ],
1069
+ "rotation": [
1070
+ 0,
1071
+ 0,
1072
+ 0
1073
+ ],
1074
+ "scale": [
1075
+ 1,
1076
+ 1,
1077
+ 1
1078
+ ]
1079
+ },
1080
+ "color": [
1081
+ 0,
1082
+ 63,
1083
+ 63
1084
+ ]
1085
+ },
1086
+ {
1087
+ "object_id": "SM_AI_vol12_02_Window_glass_3_1",
1088
+ "bbox_2d": [
1089
+ 563,
1090
+ 492,
1091
+ 646,
1092
+ 884
1093
+ ],
1094
+ "bbox_3d": {
1095
+ "aabb": {
1096
+ "center": [
1097
+ 491.49184790039067,
1098
+ -101.03965939941406,
1099
+ 348.5740317382813
1100
+ ],
1101
+ "extent": [
1102
+ 52.6355895996094,
1103
+ 40.09288024902344,
1104
+ 316.5819091796875
1105
+ ]
1106
+ },
1107
+ "obb": {
1108
+ "center": [
1109
+ 491.49184790039067,
1110
+ -101.03965939941406,
1111
+ 348.57403173828123
1112
+ ],
1113
+ "extent": [
1114
+ 52.6355895996094,
1115
+ 40.09288024902344,
1116
+ 316.5819091796875
1117
+ ],
1118
+ "rotation": [
1119
+ 0,
1120
+ 0,
1121
+ 0
1122
+ ]
1123
+ },
1124
+ "location": [
1125
+ 490.104,
1126
+ -99.9769,
1127
+ 29.729
1128
+ ],
1129
+ "rotation": [
1130
+ 0,
1131
+ 0,
1132
+ 0
1133
+ ],
1134
+ "scale": [
1135
+ 1,
1136
+ 1,
1137
+ 1
1138
+ ]
1139
+ },
1140
+ "color": [
1141
+ 255,
1142
+ 63,
1143
+ 63
1144
+ ]
1145
+ }
1146
+ ],
1147
+ "door": [
1148
+ {
1149
+ "object_id": "SM_AI_vol12_02_Door_1_1",
1150
+ "bbox_2d": [
1151
+ 352,
1152
+ 658,
1153
+ 469,
1154
+ 965
1155
+ ],
1156
+ "bbox_3d": {
1157
+ "aabb": {
1158
+ "center": [
1159
+ 477.253105779281,
1160
+ -269.53437192193536,
1161
+ 130.80079641255338
1162
+ ],
1163
+ "extent": [
1164
+ 10.392300681066615,
1165
+ 48.26562220733574,
1166
+ 101.04579162597656
1167
+ ]
1168
+ },
1169
+ "obb": {
1170
+ "center": [
1171
+ 477.253105779281,
1172
+ -269.53437192193536,
1173
+ 130.80079641255338
1174
+ ],
1175
+ "extent": [
1176
+ 10.392300681066615,
1177
+ 48.26562220733574,
1178
+ 101.04579162597656
1179
+ ],
1180
+ "rotation": [
1181
+ 0,
1182
+ 80,
1183
+ 0
1184
+ ]
1185
+ },
1186
+ "location": [
1187
+ 477.2527718969296,
1188
+ -269.5700000206572,
1189
+ 30.72760000142058
1190
+ ],
1191
+ "rotation": [
1192
+ 0,
1193
+ 80,
1194
+ 0
1195
+ ],
1196
+ "scale": [
1197
+ 1,
1198
+ 1,
1199
+ 1
1200
+ ]
1201
+ },
1202
+ "color": [
1203
+ 63,
1204
+ 255,
1205
+ 0
1206
+ ]
1207
+ }
1208
+ ],
1209
+ "building case": [
1210
+ {
1211
+ "object_id": "SM_AI_vol12_02_Building_Case_1_1",
1212
+ "bbox_2d": [
1213
+ 433,
1214
+ 661,
1215
+ 447,
1216
+ 663
1217
+ ],
1218
+ "bbox_3d": {
1219
+ "aabb": {
1220
+ "center": [
1221
+ -111.29099999999994,
1222
+ -304.381,
1223
+ 497.307294140625
1224
+ ],
1225
+ "extent": [
1226
+ 678.4266967773438,
1227
+ 693.95556640625,
1228
+ 510.0042419433594
1229
+ ]
1230
+ },
1231
+ "obb": {
1232
+ "center": [
1233
+ -111.29099999999994,
1234
+ -304.381,
1235
+ 497.307294140625
1236
+ ],
1237
+ "extent": [
1238
+ 678.4266967773438,
1239
+ 693.95556640625,
1240
+ 510.0042419433594
1241
+ ],
1242
+ "rotation": [
1243
+ 0,
1244
+ 0,
1245
+ 0
1246
+ ]
1247
+ },
1248
+ "location": [
1249
+ -111.291,
1250
+ -304.381,
1251
+ -15.0367
1252
+ ],
1253
+ "rotation": [
1254
+ 0,
1255
+ 0,
1256
+ 0
1257
+ ],
1258
+ "scale": [
1259
+ 1,
1260
+ 1,
1261
+ 1
1262
+ ]
1263
+ },
1264
+ "color": [
1265
+ 63,
1266
+ 255,
1267
+ 127
1268
+ ]
1269
+ }
1270
+ ],
1271
+ "outdoor wall": [
1272
+ {
1273
+ "object_id": "SM_AI_vol12_02_Outdoor_wall_7_1",
1274
+ "bbox_2d": [
1275
+ 361,
1276
+ 664,
1277
+ 432,
1278
+ 674
1279
+ ],
1280
+ "bbox_3d": {
1281
+ "aabb": {
1282
+ "center": [
1283
+ 1055.52,
1284
+ 15.523399999999981,
1285
+ 155.58444433593752
1286
+ ],
1287
+ "extent": [
1288
+ 89.5390625,
1289
+ 418.9031982421875,
1290
+ 125.95544433593751
1291
+ ]
1292
+ },
1293
+ "obb": {
1294
+ "center": [
1295
+ 1055.52,
1296
+ 15.523399999999981,
1297
+ 155.58444433593752
1298
+ ],
1299
+ "extent": [
1300
+ 89.5390625,
1301
+ 418.9031982421875,
1302
+ 125.95544433593751
1303
+ ],
1304
+ "rotation": [
1305
+ 0,
1306
+ 0,
1307
+ 0
1308
+ ]
1309
+ },
1310
+ "location": [
1311
+ 1055.52,
1312
+ 15.5234,
1313
+ 29.629
1314
+ ],
1315
+ "rotation": [
1316
+ 0,
1317
+ 0,
1318
+ 0
1319
+ ],
1320
+ "scale": [
1321
+ 1,
1322
+ 1,
1323
+ 1
1324
+ ]
1325
+ },
1326
+ "color": [
1327
+ 31,
1328
+ 127,
1329
+ 31
1330
+ ]
1331
+ }
1332
+ ]
1333
+ },
1334
+ "foreground": {
1335
+ "escape light": [
1336
+ {
1337
+ "object_id": "SM_AI_vol12_02_Escape_Light_1_1",
1338
+ "bbox_2d": [
1339
+ 388,
1340
+ 634,
1341
+ 445,
1342
+ 659
1343
+ ],
1344
+ "bbox_3d": {
1345
+ "aabb": {
1346
+ "center": [
1347
+ 471.2619019848098,
1348
+ -270.1830618249048,
1349
+ 245.40414318341737
1350
+ ],
1351
+ "extent": [
1352
+ 8.658907252016093,
1353
+ 21.735248673202463,
1354
+ 6.977718830108643
1355
+ ]
1356
+ },
1357
+ "obb": {
1358
+ "center": [
1359
+ 471.2619019848098,
1360
+ -270.1830618249048,
1361
+ 245.40414318341737
1362
+ ],
1363
+ "extent": [
1364
+ 8.658907252016093,
1365
+ 21.735248673202463,
1366
+ 6.977718830108643
1367
+ ],
1368
+ "rotation": [
1369
+ 0,
1370
+ 79.97726618943237,
1371
+ 0
1372
+ ]
1373
+ },
1374
+ "location": [
1375
+ 476.25990185975616,
1376
+ -271.06638895837244,
1377
+ 245.40414318341737
1378
+ ],
1379
+ "rotation": [
1380
+ 0,
1381
+ 79.97726618943237,
1382
+ 0
1383
+ ],
1384
+ "scale": [
1385
+ 1,
1386
+ 1,
1387
+ 1
1388
+ ]
1389
+ },
1390
+ "color": [
1391
+ 127,
1392
+ 191,
1393
+ 63
1394
+ ]
1395
+ }
1396
+ ],
1397
+ "fire alarm": [
1398
+ {
1399
+ "object_id": "SM_AI_vol12_02_Fire_Alarm_1_1",
1400
+ "bbox_2d": [
1401
+ 1034,
1402
+ 693,
1403
+ 1049,
1404
+ 709
1405
+ ],
1406
+ "bbox_3d": {
1407
+ "aabb": {
1408
+ "center": [
1409
+ 121.96586040880331,
1410
+ 21.62493519342352,
1411
+ 193.62957937203007
1412
+ ],
1413
+ "extent": [
1414
+ 5.475914132887809,
1415
+ 6.693747729026345,
1416
+ 6.36363703443817
1417
+ ]
1418
+ },
1419
+ "obb": {
1420
+ "center": [
1421
+ 121.96586040880331,
1422
+ 21.62493519342352,
1423
+ 193.62957937203007
1424
+ ],
1425
+ "extent": [
1426
+ 5.475914132887809,
1427
+ 6.693747729026345,
1428
+ 6.36363703443817
1429
+ ],
1430
+ "rotation": [
1431
+ 8.034876264047209e-13,
1432
+ 118.44794578127137,
1433
+ -3.676471794484711
1434
+ ]
1435
+ },
1436
+ "location": [
1437
+ 124.20275258589528,
1438
+ 22.83683848060578,
1439
+ 192.91728461988254
1440
+ ],
1441
+ "rotation": [
1442
+ 8.034876264047209e-13,
1443
+ 118.44794578127137,
1444
+ -3.676471794484711
1445
+ ],
1446
+ "scale": [
1447
+ 1,
1448
+ 1,
1449
+ 1
1450
+ ]
1451
+ },
1452
+ "color": [
1453
+ 63,
1454
+ 191,
1455
+ 0
1456
+ ]
1457
+ }
1458
+ ],
1459
+ "switch": [
1460
+ {
1461
+ "object_id": "SM_AI_vol12_02_switch_1_1",
1462
+ "bbox_2d": [
1463
+ 960,
1464
+ 701,
1465
+ 969,
1466
+ 712
1467
+ ],
1468
+ "bbox_3d": {
1469
+ "aabb": {
1470
+ "center": [
1471
+ 157.03391920591054,
1472
+ -38.64782541918305,
1473
+ 195.05934441105256
1474
+ ],
1475
+ "extent": [
1476
+ 2.8713895084,
1477
+ 4.110751379633456,
1478
+ 4.2442087809290285
1479
+ ]
1480
+ },
1481
+ "obb": {
1482
+ "center": [
1483
+ 157.03391920591054,
1484
+ -38.64782541918305,
1485
+ 195.05934441105256
1486
+ ],
1487
+ "extent": [
1488
+ 2.8713895084,
1489
+ 4.110751379633456,
1490
+ 4.2442087809290285
1491
+ ],
1492
+ "rotation": [
1493
+ 0.6677387835223151,
1494
+ 118.38370715706026,
1495
+ -3.3241961483847144
1496
+ ]
1497
+ },
1498
+ "location": [
1499
+ 157.67546334078443,
1500
+ -38.300617564077776,
1501
+ 195.01698465740535
1502
+ ],
1503
+ "rotation": [
1504
+ 0.6677387835223151,
1505
+ 118.38370715706026,
1506
+ -3.3241961483847144
1507
+ ],
1508
+ "scale": [
1509
+ 1,
1510
+ 1,
1511
+ 1
1512
+ ]
1513
+ },
1514
+ "color": [
1515
+ 63,
1516
+ 191,
1517
+ 255
1518
+ ]
1519
+ }
1520
+ ]
1521
+ }
1522
+ }
scenes/annotations/AIUE5_vol12_02/l029_off2_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,974 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l029_off2_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l029_off2_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 177,
8
+ -374,
9
+ 351
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
+ 177,
38
+ -374,
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
+ 377,
59
+ 1919,
60
+ 526
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
+ 486,
118
+ 903,
119
+ 1583,
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
+ 184,
178
+ 338,
179
+ 1919,
180
+ 454
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_6_1",
238
+ "bbox_2d": [
239
+ 1303,
240
+ 525,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ -409.973015258789,
248
+ -793.6599847412109,
249
+ 210.4554709472656
250
+ ],
251
+ "extent": [
252
+ 337.53466796875,
253
+ 141.4675750732422,
254
+ 180.72647094726562
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ -409.973015258789,
260
+ -793.6599847412109,
261
+ 210.4554709472656
262
+ ],
263
+ "extent": [
264
+ 337.53466796875,
265
+ 141.4675750732422,
266
+ 180.72647094726562
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ -409.973,
276
+ -793.66,
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
+ 127
294
+ ]
295
+ },
296
+ {
297
+ "object_id": "SM_AI_vol12_02_Wall_7_1",
298
+ "bbox_2d": [
299
+ 550,
300
+ 521,
301
+ 1241,
302
+ 1042
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
+ 0,
360
+ 514,
361
+ 542,
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
+ "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
+ 654,
484
+ 0,
485
+ 1376,
486
+ 425
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
+ 0,
546
+ 504,
547
+ 198,
548
+ 627
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_6_1",
606
+ "bbox_2d": [
607
+ 1206,
608
+ 900,
609
+ 1259,
610
+ 905
611
+ ],
612
+ "bbox_3d": {
613
+ "aabb": {
614
+ "center": [
615
+ -713.3179209289551,
616
+ -628.0548697814942,
617
+ 386.14321508789067
618
+ ],
619
+ "extent": [
620
+ 61.848880767822266,
621
+ 55.13796615600586,
622
+ 355.4439392089844
623
+ ]
624
+ },
625
+ "obb": {
626
+ "center": [
627
+ -713.3179209289551,
628
+ -628.0548697814942,
629
+ 386.1432150878906
630
+ ],
631
+ "extent": [
632
+ 61.848880767822266,
633
+ 55.13796615600586,
634
+ 355.4439392089844
635
+ ],
636
+ "rotation": [
637
+ 0,
638
+ 0,
639
+ 0
640
+ ]
641
+ },
642
+ "location": [
643
+ -713.306,
644
+ -628.186,
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
+ 127,
660
+ 63,
661
+ 0
662
+ ]
663
+ },
664
+ {
665
+ "object_id": "SM_AI_vol12_02_Window_7_1",
666
+ "bbox_2d": [
667
+ 487,
668
+ 521,
669
+ 625,
670
+ 1073
671
+ ],
672
+ "bbox_3d": {
673
+ "aabb": {
674
+ "center": [
675
+ -429.77315234375,
676
+ -120.02817706298828,
677
+ 202.49139013671873
678
+ ],
679
+ "extent": [
680
+ 35.68157958984375,
681
+ 39.985801696777344,
682
+ 171.5279541015625
683
+ ]
684
+ },
685
+ "obb": {
686
+ "center": [
687
+ -429.77315234375,
688
+ -120.02817706298828,
689
+ 202.49139013671873
690
+ ],
691
+ "extent": [
692
+ 35.68157958984375,
693
+ 39.985801696777344,
694
+ 171.5279541015625
695
+ ],
696
+ "rotation": [
697
+ 0,
698
+ 0,
699
+ 0
700
+ ]
701
+ },
702
+ "location": [
703
+ -429.592,
704
+ -117.767,
705
+ 29.729
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
+ 255
722
+ ]
723
+ }
724
+ ],
725
+ "window glass": [
726
+ {
727
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
728
+ "bbox_2d": [
729
+ 1206,
730
+ 527,
731
+ 1259,
732
+ 903
733
+ ],
734
+ "bbox_3d": {
735
+ "aabb": {
736
+ "center": [
737
+ -713.5362570343018,
738
+ -627.9010802612305,
739
+ 386.2503317871094
740
+ ],
741
+ "extent": [
742
+ 60.059295654296875,
743
+ 52.93374252319336,
744
+ 353.8716735839844
745
+ ]
746
+ },
747
+ "obb": {
748
+ "center": [
749
+ -713.5362570343018,
750
+ -627.9010802612305,
751
+ 386.25033178710936
752
+ ],
753
+ "extent": [
754
+ 60.059295654296875,
755
+ 52.93374252319336,
756
+ 353.8716735839844
757
+ ],
758
+ "rotation": [
759
+ 0,
760
+ 0,
761
+ 0
762
+ ]
763
+ },
764
+ "location": [
765
+ -713.306,
766
+ -628.186,
767
+ 29.729
768
+ ],
769
+ "rotation": [
770
+ 0,
771
+ 0,
772
+ 0
773
+ ],
774
+ "scale": [
775
+ 1,
776
+ 1,
777
+ 1
778
+ ]
779
+ },
780
+ "color": [
781
+ 63,
782
+ 0,
783
+ 255
784
+ ]
785
+ },
786
+ {
787
+ "object_id": "SM_AI_vol12_02_Window_glass_7_1",
788
+ "bbox_2d": [
789
+ 488,
790
+ 521,
791
+ 624,
792
+ 1067
793
+ ],
794
+ "bbox_3d": {
795
+ "aabb": {
796
+ "center": [
797
+ -429.7319993896484,
798
+ -120.46578387451171,
799
+ 202.2577628173828
800
+ ],
801
+ "extent": [
802
+ 33.27091979980469,
803
+ 37.76592254638672,
804
+ 170.1311492919922
805
+ ]
806
+ },
807
+ "obb": {
808
+ "center": [
809
+ -429.7319993896484,
810
+ -120.46578387451171,
811
+ 202.2577628173828
812
+ ],
813
+ "extent": [
814
+ 33.27091979980469,
815
+ 37.76592254638672,
816
+ 170.1311492919922
817
+ ],
818
+ "rotation": [
819
+ 0,
820
+ 0,
821
+ 0
822
+ ]
823
+ },
824
+ "location": [
825
+ -429.592,
826
+ -117.767,
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
+ 63,
842
+ 0,
843
+ 127
844
+ ]
845
+ }
846
+ ]
847
+ },
848
+ "foreground": {
849
+ "halogen": [
850
+ {
851
+ "object_id": "SM_AI_vol12_02_halogen_1_1",
852
+ "bbox_2d": [
853
+ 715,
854
+ 532,
855
+ 745,
856
+ 573
857
+ ],
858
+ "bbox_3d": {
859
+ "aabb": {
860
+ "center": [
861
+ -413.9310100677407,
862
+ -232.98785409215031,
863
+ 343.4466411270422
864
+ ],
865
+ "extent": [
866
+ 5.976463005250821,
867
+ 9.676017022354785,
868
+ 13.420366287231445
869
+ ]
870
+ },
871
+ "obb": {
872
+ "center": [
873
+ -413.9310100677407,
874
+ -232.98785409215031,
875
+ 343.4466411270422
876
+ ],
877
+ "extent": [
878
+ 5.976463005250821,
879
+ 9.676017022354785,
880
+ 13.420366287231445
881
+ ],
882
+ "rotation": [
883
+ 0,
884
+ -95.85149897932936,
885
+ 0
886
+ ]
887
+ },
888
+ "location": [
889
+ -413.65629155295034,
890
+ -232.98822096173257,
891
+ 356.86700741427364
892
+ ],
893
+ "rotation": [
894
+ 0,
895
+ -95.85149897932936,
896
+ 0
897
+ ],
898
+ "scale": [
899
+ 1,
900
+ 1,
901
+ 1
902
+ ]
903
+ },
904
+ "color": [
905
+ 63,
906
+ 127,
907
+ 63
908
+ ]
909
+ }
910
+ ],
911
+ "image": [
912
+ {
913
+ "object_id": "SM_AI_vol12_02_Image_6_1",
914
+ "bbox_2d": [
915
+ 839,
916
+ 707,
917
+ 954,
918
+ 832
919
+ ],
920
+ "bbox_3d": {
921
+ "aabb": {
922
+ "center": [
923
+ -539.4445398360865,
924
+ -327.5182160917665,
925
+ 179.66616442898865
926
+ ],
927
+ "extent": [
928
+ 26.412077427546933,
929
+ 43.381530199136535,
930
+ 42.884158230724694
931
+ ]
932
+ },
933
+ "obb": {
934
+ "center": [
935
+ -539.4445398360865,
936
+ -327.5182160917665,
937
+ 179.66616442898865
938
+ ],
939
+ "extent": [
940
+ 26.412077427546933,
941
+ 43.381530199136535,
942
+ 42.884158230724694
943
+ ],
944
+ "rotation": [
945
+ -5.645484559597742e-14,
946
+ -117.78332075815584,
947
+ -3.384932235824407
948
+ ]
949
+ },
950
+ "location": [
951
+ -537.8068422836224,
952
+ -328.38105704305684,
953
+ 179.77565114199106
954
+ ],
955
+ "rotation": [
956
+ -5.645484559597742e-14,
957
+ -117.78332075815584,
958
+ -3.384932235824407
959
+ ],
960
+ "scale": [
961
+ 0.5702713131904602,
962
+ 0.5702713131904602,
963
+ 0.5702713131904602
964
+ ]
965
+ },
966
+ "color": [
967
+ 191,
968
+ 191,
969
+ 63
970
+ ]
971
+ }
972
+ ]
973
+ }
974
+ }
scenes/annotations/AIUE5_vol12_02/l031_off1_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,1158 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l031_off1_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l031_off1_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 93,
8
+ -167,
9
+ 523
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
+ 93,
38
+ -167,
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_7_1",
56
+ "bbox_2d": [
57
+ 847,
58
+ 0,
59
+ 1439,
60
+ 342
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -482.9028309207513,
66
+ -380.7269847412109,
67
+ 814.088105834961
68
+ ],
69
+ "extent": [
70
+ 293.25537109375,
71
+ 291.9927978515625,
72
+ 179.09910583496094
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -482.9028309207513,
78
+ -380.7269847412109,
79
+ 814.088105834961
80
+ ],
81
+ "extent": [
82
+ 293.25537109375,
83
+ 291.9927978515625,
84
+ 179.09910583496094
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -483.07041820102467,
94
+ -380.727,
95
+ 634.989
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
+ 255,
111
+ 127
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Ceiling_8_1",
116
+ "bbox_2d": [
117
+ 63,
118
+ 0,
119
+ 945,
120
+ 342
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ -220.91700762939456,
126
+ 107.85474865722655,
127
+ 805.9363876953125
128
+ ],
129
+ "extent": [
130
+ 251.57647705078125,
131
+ 268.6739501953125,
132
+ 171.050048828125
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ -220.91700762939456,
138
+ 107.85474865722657,
139
+ 805.9363876953125
140
+ ],
141
+ "extent": [
142
+ 251.57647705078125,
143
+ 268.6739501953125,
144
+ 171.050048828125
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ -220.917,
154
+ 108.078,
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
+ 255,
170
+ 0,
171
+ 127
172
+ ]
173
+ }
174
+ ],
175
+ "floor": [
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
178
+ "bbox_2d": [
179
+ 0,
180
+ 682,
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
+ 879,
240
+ 793,
241
+ 1919,
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_8_1",
300
+ "bbox_2d": [
301
+ 229,
302
+ 997,
303
+ 486,
304
+ 1079
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ -254.78200000000004,
310
+ 128.015,
311
+ 210.4329337158203
312
+ ],
313
+ "extent": [
314
+ 217.4521026611328,
315
+ 232.69874572753906,
316
+ 180.7039337158203
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ -254.78200000000004,
322
+ 128.015,
323
+ 210.4329337158203
324
+ ],
325
+ "extent": [
326
+ 217.4521026611328,
327
+ 232.69874572753906,
328
+ 180.7039337158203
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ -254.782,
338
+ 128.015,
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
+ 127,
354
+ 0,
355
+ 255
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_AI_vol12_02_Wall_14_1",
360
+ "bbox_2d": [
361
+ 1522,
362
+ 281,
363
+ 1919,
364
+ 741
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ -424.933,
370
+ -799.094,
371
+ 585.79394140625
372
+ ],
373
+ "extent": [
374
+ 352.08929443359375,
375
+ 136.33853149414062,
376
+ 196.06494140625
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ -424.933,
382
+ -799.094,
383
+ 585.79394140625
384
+ ],
385
+ "extent": [
386
+ 352.08929443359375,
387
+ 136.33853149414062,
388
+ 196.06494140625
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ -424.933,
398
+ -799.094,
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
+ 255
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_15_1",
420
+ "bbox_2d": [
421
+ 848,
422
+ 258,
423
+ 1523,
424
+ 757
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ -614.4759847412109,
430
+ -380.7269847412109,
431
+ 585.79394140625
432
+ ],
433
+ "extent": [
434
+ 162.5470733642578,
435
+ 291.9927978515625,
436
+ 196.06494140625
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ -614.4759847412109,
442
+ -380.7269847412109,
443
+ 585.79394140625
444
+ ],
445
+ "extent": [
446
+ 162.5470733642578,
447
+ 291.9927978515625,
448
+ 196.06494140625
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ -614.476,
458
+ -380.727,
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
+ 127
476
+ ]
477
+ },
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Wall_16_1",
480
+ "bbox_2d": [
481
+ 0,
482
+ 0,
483
+ 847,
484
+ 922
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ -250.46037083567654,
490
+ 136.49199999999996,
491
+ 583.4498251953125
492
+ ],
493
+ "extent": [
494
+ 221.8224639892578,
495
+ 240.0364990234375,
496
+ 193.7208251953125
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ -250.46037083567654,
502
+ 136.492,
503
+ 583.4498251953125
504
+ ],
505
+ "extent": [
506
+ 221.8224639892578,
507
+ 240.0364990234375,
508
+ 193.7208251953125
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ -250.46037083567654,
518
+ 136.492,
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
+ 0,
534
+ 0,
535
+ 63
536
+ ]
537
+ }
538
+ ],
539
+ "ceiling windows": [
540
+ {
541
+ "object_id": "SM_AI_vol12_02_Ceiling_Windows_glass_1_1",
542
+ "bbox_2d": [
543
+ 934,
544
+ 0,
545
+ 1029,
546
+ 60
547
+ ],
548
+ "bbox_3d": {
549
+ "aabb": {
550
+ "center": [
551
+ 1.1781617871093886,
552
+ -446.97622119140624,
553
+ 905.9174248046875
554
+ ],
555
+ "extent": [
556
+ 365.17840576171875,
557
+ 325.3132629394531,
558
+ 168.6424560546875
559
+ ]
560
+ },
561
+ "obb": {
562
+ "center": [
563
+ 1.1781617871093886,
564
+ -446.97622119140624,
565
+ 905.9174248046875
566
+ ],
567
+ "extent": [
568
+ 365.17840576171875,
569
+ 325.3132629394531,
570
+ 168.6424560546875
571
+ ],
572
+ "rotation": [
573
+ 0,
574
+ 0,
575
+ 0
576
+ ]
577
+ },
578
+ "location": [
579
+ 0.18808,
580
+ -448.462,
581
+ 732.982
582
+ ],
583
+ "rotation": [
584
+ 0,
585
+ 0,
586
+ 0
587
+ ],
588
+ "scale": [
589
+ 1,
590
+ 1,
591
+ 1
592
+ ]
593
+ },
594
+ "color": [
595
+ 255,
596
+ 255,
597
+ 63
598
+ ]
599
+ },
600
+ {
601
+ "object_id": "SM_AI_vol12_02_Ceiling_Windows_1_1",
602
+ "bbox_2d": [
603
+ 1006,
604
+ 0,
605
+ 1032,
606
+ 25
607
+ ],
608
+ "bbox_3d": {
609
+ "aabb": {
610
+ "center": [
611
+ 0.18746964843751357,
612
+ -448.46120654296874,
613
+ 904.6752373046875
614
+ ],
615
+ "extent": [
616
+ 368.99749755859375,
617
+ 328.7353210449219,
618
+ 171.6873779296875
619
+ ]
620
+ },
621
+ "obb": {
622
+ "center": [
623
+ 0.18746964843751357,
624
+ -448.46120654296874,
625
+ 904.6752373046875
626
+ ],
627
+ "extent": [
628
+ 368.99749755859375,
629
+ 328.7353210449219,
630
+ 171.6873779296875
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
+ 127,
657
+ 63
658
+ ]
659
+ }
660
+ ],
661
+ "floor glass": [
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
664
+ "bbox_2d": [
665
+ 1245,
666
+ 899,
667
+ 1919,
668
+ 1079
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
+ 939,
728
+ 0,
729
+ 1018,
730
+ 128
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
+ 85,
790
+ 680,
791
+ 720,
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
+ 1514,
852
+ 315,
853
+ 1541,
854
+ 683
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
+ 1514,
914
+ 327,
915
+ 1541,
916
+ 679
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
+ 1254,
976
+ 0,
977
+ 1919,
978
+ 312
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
+ 1788,
1040
+ 356,
1041
+ 1919,
1042
+ 649
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
+ 1159,
1100
+ 406,
1101
+ 1436,
1102
+ 647
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
+ }
1158
+ }
scenes/annotations/AIUE5_vol12_02/l034_off2_r005/scene_annotations_split.json ADDED
@@ -0,0 +1,912 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l034_off2_r005",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l034_off2_r005/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 215,
8
+ -320,
9
+ 553
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
+ 215,
38
+ -320,
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_4_1",
56
+ "bbox_2d": [
57
+ 765,
58
+ 0,
59
+ 1919,
60
+ 347
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 363.8465741695809,
66
+ -682.1896706542968,
67
+ 802.9227625732422
68
+ ],
69
+ "extent": [
70
+ 184.16900634765628,
71
+ 301.8201599121094,
72
+ 181.7854461669922
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 363.8465741695809,
78
+ -682.1896706542968,
79
+ 802.9227625732422
80
+ ],
81
+ "extent": [
82
+ 184.16900634765628,
83
+ 301.8201599121094,
84
+ 181.7854461669922
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 363.84658179897536,
94
+ -682.396,
95
+ 621.213
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
+ 0
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Ceiling_5_1",
116
+ "bbox_2d": [
117
+ 0,
118
+ 0,
119
+ 892,
120
+ 347
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 235.30658179897534,
126
+ -771.5090216064453,
127
+ 840.335248413086
128
+ ],
129
+ "extent": [
130
+ 312.708740234375,
131
+ 212.50108337402344,
132
+ 144.37535095214844
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 235.30658179897532,
138
+ -771.5090216064453,
139
+ 840.335248413086
140
+ ],
141
+ "extent": [
142
+ 312.708740234375,
143
+ 212.50108337402344,
144
+ 144.37535095214844
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 235.30658179897532,
154
+ -771.715,
155
+ 696.065
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
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "floor": [
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
178
+ "bbox_2d": [
179
+ 0,
180
+ 750,
181
+ 1472,
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
+ 1075,
241
+ 24,
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_4_1",
300
+ "bbox_2d": [
301
+ 895,
302
+ 756,
303
+ 895,
304
+ 756
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 489.6886770629883,
310
+ -663.5999932861328,
311
+ 214.63871374511717
312
+ ],
313
+ "extent": [
314
+ 52.443214416503906,
315
+ 285.02001953125,
316
+ 184.9097137451172
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 489.6886770629883,
322
+ -663.5999932861328,
323
+ 214.63871374511717
324
+ ],
325
+ "extent": [
326
+ 52.443214416503906,
327
+ 285.02001953125,
328
+ 184.9097137451172
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 490.49,
338
+ -664.06,
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
+ 255,
354
+ 127,
355
+ 255
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_AI_vol12_02_Wall_5_1",
360
+ "bbox_2d": [
361
+ 863,
362
+ 747,
363
+ 870,
364
+ 752
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 222.24028076171874,
370
+ -925.8515427093506,
371
+ 214.49045935058592
372
+ ],
373
+ "extent": [
374
+ 300.5262451171875,
375
+ 54.29796600341797,
376
+ 184.76145935058594
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 222.24028076171874,
382
+ -925.8515427093506,
383
+ 214.49045935058592
384
+ ],
385
+ "extent": [
386
+ 300.5262451171875,
387
+ 54.29796600341797,
388
+ 184.76145935058594
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 223.265,
398
+ -926.773,
399
+ 29.729
400
+ ],
401
+ "rotation": [
402
+ 0,
403
+ 0,
404
+ 0
405
+ ],
406
+ "scale": [
407
+ 1,
408
+ 1,
409
+ 1
410
+ ]
411
+ },
412
+ "color": [
413
+ 0,
414
+ 127,
415
+ 127
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_12_1",
420
+ "bbox_2d": [
421
+ 891,
422
+ 185,
423
+ 1919,
424
+ 1079
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ 508.3386596819016,
430
+ -682.396,
431
+ 542.9197043457032
432
+ ],
433
+ "extent": [
434
+ 39.0238037109375,
435
+ 301.61383056640625,
436
+ 153.19070434570312
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ 508.3386596819016,
442
+ -682.396,
443
+ 542.9197043457032
444
+ ],
445
+ "extent": [
446
+ 39.0238037109375,
447
+ 301.61383056640625,
448
+ 153.19070434570312
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ 508.3386291643235,
458
+ -682.396,
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
+ 127
476
+ ]
477
+ },
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Wall_13_1",
480
+ "bbox_2d": [
481
+ 0,
482
+ 81,
483
+ 892,
484
+ 874
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ 234.64462916432342,
490
+ -947.386,
491
+ 585.7877158203125
492
+ ],
493
+ "extent": [
494
+ 312.718505859375,
495
+ 36.62384033203125,
496
+ 196.0587158203125
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ 234.64462916432345,
502
+ -947.386,
503
+ 585.7877158203125
504
+ ],
505
+ "extent": [
506
+ 312.718505859375,
507
+ 36.62384033203125,
508
+ 196.0587158203125
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ 234.64462916432345,
518
+ -947.386,
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
+ 0
536
+ ]
537
+ }
538
+ ],
539
+ "window": [
540
+ {
541
+ "object_id": "SM_AI_vol12_02_Window_4_1",
542
+ "bbox_2d": [
543
+ 870,
544
+ 448,
545
+ 894,
546
+ 751
547
+ ],
548
+ "bbox_3d": {
549
+ "aabb": {
550
+ "center": [
551
+ 478.3979389648438,
552
+ -899.502,
553
+ 351.0958979003906
554
+ ],
555
+ "extent": [
556
+ 66.072265625,
557
+ 81.93475341796875,
558
+ 319.7940979003906
559
+ ]
560
+ },
561
+ "obb": {
562
+ "center": [
563
+ 478.3979389648438,
564
+ -899.502,
565
+ 351.09589790039064
566
+ ],
567
+ "extent": [
568
+ 66.072265625,
569
+ 81.93475341796875,
570
+ 319.7940979003906
571
+ ],
572
+ "rotation": [
573
+ 0,
574
+ 0,
575
+ 0
576
+ ]
577
+ },
578
+ "location": [
579
+ 478.398,
580
+ -899.502,
581
+ 31.3018
582
+ ],
583
+ "rotation": [
584
+ 0,
585
+ 0,
586
+ 0
587
+ ],
588
+ "scale": [
589
+ 1,
590
+ 1,
591
+ 1
592
+ ]
593
+ },
594
+ "color": [
595
+ 255,
596
+ 63,
597
+ 255
598
+ ]
599
+ }
600
+ ],
601
+ "window glass": [
602
+ {
603
+ "object_id": "SM_AI_vol12_02_Window_glass_4_1",
604
+ "bbox_2d": [
605
+ 872,
606
+ 486,
607
+ 894,
608
+ 755
609
+ ],
610
+ "bbox_3d": {
611
+ "aabb": {
612
+ "center": [
613
+ 478.668,
614
+ -899.8300305175782,
615
+ 351.19856162109375
616
+ ],
617
+ "extent": [
618
+ 63.623291015625,
619
+ 79.35452270507812,
620
+ 318.74066162109375
621
+ ]
622
+ },
623
+ "obb": {
624
+ "center": [
625
+ 478.668,
626
+ -899.8300305175782,
627
+ 351.19856162109375
628
+ ],
629
+ "extent": [
630
+ 63.623291015625,
631
+ 79.35452270507812,
632
+ 318.74066162109375
633
+ ],
634
+ "rotation": [
635
+ 0,
636
+ 0,
637
+ 0
638
+ ]
639
+ },
640
+ "location": [
641
+ 478.668,
642
+ -899.83,
643
+ 32.4579
644
+ ],
645
+ "rotation": [
646
+ 0,
647
+ 0,
648
+ 0
649
+ ],
650
+ "scale": [
651
+ 1,
652
+ 1,
653
+ 1
654
+ ]
655
+ },
656
+ "color": [
657
+ 127,
658
+ 63,
659
+ 63
660
+ ]
661
+ }
662
+ ]
663
+ },
664
+ "foreground": {
665
+ "long lamp": [
666
+ {
667
+ "object_id": "SM_AI_vol12_02_longlamp_1_1",
668
+ "bbox_2d": [
669
+ 0,
670
+ 0,
671
+ 674,
672
+ 371
673
+ ],
674
+ "bbox_3d": {
675
+ "aabb": {
676
+ "center": [
677
+ 172.34940584703398,
678
+ -763.3802747142901,
679
+ 765.8418885659373
680
+ ],
681
+ "extent": [
682
+ 152.07876551615615,
683
+ 20.119448477602646,
684
+ 133.34738159179688
685
+ ]
686
+ },
687
+ "obb": {
688
+ "center": [
689
+ 172.34940584703398,
690
+ -763.3802747142901,
691
+ 765.8418885659373
692
+ ],
693
+ "extent": [
694
+ 152.07876551615615,
695
+ 20.119448477602646,
696
+ 133.34738159179688
697
+ ],
698
+ "rotation": [
699
+ 0,
700
+ -6.443922772533881,
701
+ 0
702
+ ]
703
+ },
704
+ "location": [
705
+ 172.34934326220827,
706
+ -763.3802170195245,
707
+ 899.1892701577342
708
+ ],
709
+ "rotation": [
710
+ 0,
711
+ -6.443922772533881,
712
+ 0
713
+ ],
714
+ "scale": [
715
+ 1,
716
+ 1,
717
+ 1
718
+ ]
719
+ },
720
+ "color": [
721
+ 63,
722
+ 127,
723
+ 0
724
+ ]
725
+ }
726
+ ],
727
+ "image": [
728
+ {
729
+ "object_id": "SM_AI_vol12_02_Image_3_1",
730
+ "bbox_2d": [
731
+ 952,
732
+ 424,
733
+ 1230,
734
+ 799
735
+ ],
736
+ "bbox_3d": {
737
+ "aabb": {
738
+ "center": [
739
+ 499.6606907690431,
740
+ -709.0623865006586,
741
+ 525.7181883448701
742
+ ],
743
+ "extent": [
744
+ 15.609846164806385,
745
+ 125.86093947633708,
746
+ 71.01539611816406
747
+ ]
748
+ },
749
+ "obb": {
750
+ "center": [
751
+ 499.6606907690431,
752
+ -709.0623865006586,
753
+ 525.7181883448701
754
+ ],
755
+ "extent": [
756
+ 15.609846164806385,
757
+ 125.86093947633708,
758
+ 71.01539611816406
759
+ ],
760
+ "rotation": [
761
+ 0,
762
+ 95.07878300205863,
763
+ 0
764
+ ]
765
+ },
766
+ "location": [
767
+ 496.25547680402275,
768
+ -709.3650419247047,
769
+ 525.7181883448701
770
+ ],
771
+ "rotation": [
772
+ 0,
773
+ 95.07878300205863,
774
+ 0
775
+ ],
776
+ "scale": [
777
+ 1,
778
+ 1,
779
+ 1
780
+ ]
781
+ },
782
+ "color": [
783
+ 191,
784
+ 63,
785
+ 0
786
+ ]
787
+ },
788
+ {
789
+ "object_id": "SM_AI_vol12_02_Image_5_1",
790
+ "bbox_2d": [
791
+ 0,
792
+ 412,
793
+ 477,
794
+ 714
795
+ ],
796
+ "bbox_3d": {
797
+ "aabb": {
798
+ "center": [
799
+ 125.82288900531462,
800
+ -927.2432957813853,
801
+ 542.2026911411142
802
+ ],
803
+ "extent": [
804
+ 124.99209902213336,
805
+ 17.166647818014212,
806
+ 69.08589758662632
807
+ ]
808
+ },
809
+ "obb": {
810
+ "center": [
811
+ 125.82288900531462,
812
+ -927.2432957813853,
813
+ 542.2026911411142
814
+ ],
815
+ "extent": [
816
+ 124.99209902213336,
817
+ 17.166647818014212,
818
+ 69.08589758662632
819
+ ],
820
+ "rotation": [
821
+ 1.2424041724466862e-17,
822
+ -4.67383473018151,
823
+ 0.7026667060359305
824
+ ]
825
+ },
826
+ "location": [
827
+ 126.25889584774549,
828
+ -921.9101260497847,
829
+ 542.1370644606101
830
+ ],
831
+ "rotation": [
832
+ 1.2424041724466862e-17,
833
+ -4.67383473018151,
834
+ 0.7026667060359305
835
+ ],
836
+ "scale": [
837
+ 1,
838
+ 1.5324999657459557,
839
+ 1
840
+ ]
841
+ },
842
+ "color": [
843
+ 191,
844
+ 63,
845
+ 127
846
+ ]
847
+ }
848
+ ],
849
+ "info plate": [
850
+ {
851
+ "object_id": "SM_AI_vol12_02_info_plate_1_1",
852
+ "bbox_2d": [
853
+ 759,
854
+ 589,
855
+ 790,
856
+ 616
857
+ ],
858
+ "bbox_3d": {
859
+ "aabb": {
860
+ "center": [
861
+ 433.8008317966959,
862
+ -950.9521040304816,
863
+ 509.9311721607132
864
+ ],
865
+ "extent": [
866
+ 11.448534738079275,
867
+ 2.172825999524207,
868
+ 9.310245292396928
869
+ ]
870
+ },
871
+ "obb": {
872
+ "center": [
873
+ 433.8008317966959,
874
+ -950.9521040304816,
875
+ 509.9311721607132
876
+ ],
877
+ "extent": [
878
+ 11.448534738079275,
879
+ 2.172825999524207,
880
+ 9.310245292396928
881
+ ],
882
+ "rotation": [
883
+ 1.3169656283488795,
884
+ 85.09978373942465,
885
+ -90.51575803305882
886
+ ]
887
+ },
888
+ "location": [
889
+ 433.7160418625295,
890
+ -951.9410916047187,
891
+ 509.90834916922466
892
+ ],
893
+ "rotation": [
894
+ 1.3169656283488795,
895
+ 85.09978373942465,
896
+ -90.51575803305882
897
+ ],
898
+ "scale": [
899
+ 1,
900
+ 1.159895658493042,
901
+ 1
902
+ ]
903
+ },
904
+ "color": [
905
+ 191,
906
+ 0,
907
+ 31
908
+ ]
909
+ }
910
+ ]
911
+ }
912
+ }
scenes/annotations/AIUE5_vol12_02/l035_off0_r000/scene_annotations_split.json ADDED
@@ -0,0 +1,854 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l035_off0_r000",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l035_off0_r000/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -5,
8
+ -359,
9
+ 493
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
+ -5,
38
+ -359,
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
+ "ceiling": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Ceiling_2_1",
56
+ "bbox_2d": [
57
+ 1446,
58
+ 0,
59
+ 1621,
60
+ 176
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
+ 0,
118
+ 168,
119
+ 916,
120
+ 280
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
+ 710,
181
+ 1919,
182
+ 990
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
+ 758,
241
+ 1919,
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_10_1",
300
+ "bbox_2d": [
301
+ 1474,
302
+ 0,
303
+ 1919,
304
+ 856
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 372.65262916432346,
310
+ -66.28759809265136,
311
+ 585.7906912841797
312
+ ],
313
+ "extent": [
314
+ 180.29879760742188,
315
+ 12.773839950561523,
316
+ 196.0616912841797
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 372.65262916432346,
322
+ -66.28759809265136,
323
+ 585.7906912841797
324
+ ],
325
+ "extent": [
326
+ 180.29879760742188,
327
+ 12.773839950561523,
328
+ 196.0616912841797
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 372.65262916432346,
338
+ -66.2876,
339
+ 389.729
340
+ ],
341
+ "rotation": [
342
+ 0,
343
+ 0,
344
+ 0
345
+ ],
346
+ "scale": [
347
+ 1,
348
+ 1,
349
+ 1
350
+ ]
351
+ },
352
+ "color": [
353
+ 127,
354
+ 255,
355
+ 255
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_AI_vol12_02_Wall_11_1",
360
+ "bbox_2d": [
361
+ 916,
362
+ 178,
363
+ 1476,
364
+ 728
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 511.1336596819017,
370
+ -218.0759923706055,
371
+ 542.9191550292969
372
+ ],
373
+ "extent": [
374
+ 41.81835937500003,
375
+ 163.89883422851562,
376
+ 153.19015502929688
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 511.1336596819017,
382
+ -218.0759923706055,
383
+ 542.9191550292969
384
+ ],
385
+ "extent": [
386
+ 41.81835937500003,
387
+ 163.89883422851562,
388
+ 153.19015502929688
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 511.1336291643235,
398
+ -218.076,
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
+ 0,
415
+ 127
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_12_1",
420
+ "bbox_2d": [
421
+ 0,
422
+ 189,
423
+ 915,
424
+ 728
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ 508.3386596819016,
430
+ -682.396,
431
+ 542.9197043457032
432
+ ],
433
+ "extent": [
434
+ 39.0238037109375,
435
+ 301.61383056640625,
436
+ 153.19070434570312
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ 508.3386596819016,
442
+ -682.396,
443
+ 542.9197043457032
444
+ ],
445
+ "extent": [
446
+ 39.0238037109375,
447
+ 301.61383056640625,
448
+ 153.19070434570312
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ 508.3386291643235,
458
+ -682.396,
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
+ 127
476
+ ]
477
+ }
478
+ ],
479
+ "floor glass": [
480
+ {
481
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
482
+ "bbox_2d": [
483
+ 386,
484
+ 876,
485
+ 1485,
486
+ 1079
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_3_1",
544
+ "bbox_2d": [
545
+ 1460,
546
+ 241,
547
+ 1477,
548
+ 553
549
+ ],
550
+ "bbox_3d": {
551
+ "aabb": {
552
+ "center": [
553
+ 491.6927145996094,
554
+ -100.73671903076172,
555
+ 348.7504233398438
556
+ ],
557
+ "extent": [
558
+ 55.44790649414065,
559
+ 42.235069274902344,
560
+ 317.89764404296875
561
+ ]
562
+ },
563
+ "obb": {
564
+ "center": [
565
+ 491.6927145996094,
566
+ -100.73671903076172,
567
+ 348.75042333984373
568
+ ],
569
+ "extent": [
570
+ 55.44790649414065,
571
+ 42.235069274902344,
572
+ 317.89764404296875
573
+ ],
574
+ "rotation": [
575
+ 0,
576
+ 0,
577
+ 0
578
+ ]
579
+ },
580
+ "location": [
581
+ 490.104,
582
+ -99.9769,
583
+ 29.729
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
+ 0
600
+ ]
601
+ }
602
+ ],
603
+ "window glass": [
604
+ {
605
+ "object_id": "SM_AI_vol12_02_Window_glass_3_1",
606
+ "bbox_2d": [
607
+ 1454,
608
+ 285,
609
+ 1492,
610
+ 717
611
+ ],
612
+ "bbox_3d": {
613
+ "aabb": {
614
+ "center": [
615
+ 491.49184790039067,
616
+ -101.03965939941406,
617
+ 348.5740317382813
618
+ ],
619
+ "extent": [
620
+ 52.6355895996094,
621
+ 40.09288024902344,
622
+ 316.5819091796875
623
+ ]
624
+ },
625
+ "obb": {
626
+ "center": [
627
+ 491.49184790039067,
628
+ -101.03965939941406,
629
+ 348.57403173828123
630
+ ],
631
+ "extent": [
632
+ 52.6355895996094,
633
+ 40.09288024902344,
634
+ 316.5819091796875
635
+ ],
636
+ "rotation": [
637
+ 0,
638
+ 0,
639
+ 0
640
+ ]
641
+ },
642
+ "location": [
643
+ 490.104,
644
+ -99.9769,
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
+ 255,
660
+ 63,
661
+ 63
662
+ ]
663
+ }
664
+ ],
665
+ "ceiling box": [
666
+ {
667
+ "object_id": "SM_AI_vol12_02_Ceiling_Box_1_1",
668
+ "bbox_2d": [
669
+ 0,
670
+ 0,
671
+ 1257,
672
+ 219
673
+ ],
674
+ "bbox_3d": {
675
+ "aabb": {
676
+ "center": [
677
+ 2.5983100000000263,
678
+ -409.323,
679
+ 760.3711724853515
680
+ ],
681
+ "extent": [
682
+ 260.15771484375,
683
+ 228.5609130859375,
684
+ 245.18885803222656
685
+ ]
686
+ },
687
+ "obb": {
688
+ "center": [
689
+ 2.5983100000000263,
690
+ -409.323,
691
+ 760.3711724853515
692
+ ],
693
+ "extent": [
694
+ 260.15771484375,
695
+ 228.5609130859375,
696
+ 245.18885803222656
697
+ ],
698
+ "rotation": [
699
+ 0,
700
+ 0,
701
+ 0
702
+ ]
703
+ },
704
+ "location": [
705
+ 2.59831,
706
+ -409.323,
707
+ 1005.56
708
+ ],
709
+ "rotation": [
710
+ 0,
711
+ 0,
712
+ 0
713
+ ],
714
+ "scale": [
715
+ 1,
716
+ 1,
717
+ 1
718
+ ]
719
+ },
720
+ "color": [
721
+ 63,
722
+ 255,
723
+ 255
724
+ ]
725
+ }
726
+ ],
727
+ "building case": [
728
+ {
729
+ "object_id": "SM_AI_vol12_02_Building_Case_1_1",
730
+ "bbox_2d": [
731
+ 1465,
732
+ 420,
733
+ 1465,
734
+ 420
735
+ ],
736
+ "bbox_3d": {
737
+ "aabb": {
738
+ "center": [
739
+ -111.29099999999994,
740
+ -304.381,
741
+ 497.307294140625
742
+ ],
743
+ "extent": [
744
+ 678.4266967773438,
745
+ 693.95556640625,
746
+ 510.0042419433594
747
+ ]
748
+ },
749
+ "obb": {
750
+ "center": [
751
+ -111.29099999999994,
752
+ -304.381,
753
+ 497.307294140625
754
+ ],
755
+ "extent": [
756
+ 678.4266967773438,
757
+ 693.95556640625,
758
+ 510.0042419433594
759
+ ],
760
+ "rotation": [
761
+ 0,
762
+ 0,
763
+ 0
764
+ ]
765
+ },
766
+ "location": [
767
+ -111.291,
768
+ -304.381,
769
+ -15.0367
770
+ ],
771
+ "rotation": [
772
+ 0,
773
+ 0,
774
+ 0
775
+ ],
776
+ "scale": [
777
+ 1,
778
+ 1,
779
+ 1
780
+ ]
781
+ },
782
+ "color": [
783
+ 63,
784
+ 255,
785
+ 127
786
+ ]
787
+ }
788
+ ]
789
+ },
790
+ "foreground": {
791
+ "image": [
792
+ {
793
+ "object_id": "SM_AI_vol12_02_Image_3_1",
794
+ "bbox_2d": [
795
+ 67,
796
+ 336,
797
+ 519,
798
+ 614
799
+ ],
800
+ "bbox_3d": {
801
+ "aabb": {
802
+ "center": [
803
+ 499.6606907690431,
804
+ -709.0623865006586,
805
+ 525.7181883448701
806
+ ],
807
+ "extent": [
808
+ 15.609846164806385,
809
+ 125.86093947633708,
810
+ 71.01539611816406
811
+ ]
812
+ },
813
+ "obb": {
814
+ "center": [
815
+ 499.6606907690431,
816
+ -709.0623865006586,
817
+ 525.7181883448701
818
+ ],
819
+ "extent": [
820
+ 15.609846164806385,
821
+ 125.86093947633708,
822
+ 71.01539611816406
823
+ ],
824
+ "rotation": [
825
+ 0,
826
+ 95.07878300205863,
827
+ 0
828
+ ]
829
+ },
830
+ "location": [
831
+ 496.25547680402275,
832
+ -709.3650419247047,
833
+ 525.7181883448701
834
+ ],
835
+ "rotation": [
836
+ 0,
837
+ 95.07878300205863,
838
+ 0
839
+ ],
840
+ "scale": [
841
+ 1,
842
+ 1,
843
+ 1
844
+ ]
845
+ },
846
+ "color": [
847
+ 191,
848
+ 63,
849
+ 0
850
+ ]
851
+ }
852
+ ]
853
+ }
854
+ }
scenes/annotations/AIUE5_vol12_02/l038_off1_r000/scene_annotations_split.json ADDED
@@ -0,0 +1,666 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l038_off1_r000",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l038_off1_r000/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -53,
8
+ -13,
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
+ -53,
38
+ -13,
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
+ 667,
58
+ 0,
59
+ 716,
60
+ 63
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
+ 0,
118
+ 0,
119
+ 284,
120
+ 359
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
+ 751,
181
+ 902,
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
+ 798,
241
+ 379,
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_9_1",
300
+ "bbox_2d": [
301
+ 716,
302
+ 0,
303
+ 1919,
304
+ 1079
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 86.66842916432347,
310
+ 150.61900000000003,
311
+ 585.7907065429688
312
+ ],
313
+ "extent": [
314
+ 118.70797729492188,
315
+ 225.9097137451172,
316
+ 196.06170654296875
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 86.66842916432346,
322
+ 150.619,
323
+ 585.7907065429688
324
+ ],
325
+ "extent": [
326
+ 118.70797729492188,
327
+ 225.9097137451172,
328
+ 196.06170654296875
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 86.66842916432346,
338
+ 150.619,
339
+ 389.729
340
+ ],
341
+ "rotation": [
342
+ 0,
343
+ 0,
344
+ 0
345
+ ],
346
+ "scale": [
347
+ 1,
348
+ 1,
349
+ 1
350
+ ]
351
+ },
352
+ "color": [
353
+ 127,
354
+ 255,
355
+ 0
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_AI_vol12_02_Wall_10_1",
360
+ "bbox_2d": [
361
+ 716,
362
+ 808,
363
+ 716,
364
+ 809
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 372.65262916432346,
370
+ -66.28759809265136,
371
+ 585.7906912841797
372
+ ],
373
+ "extent": [
374
+ 180.29879760742188,
375
+ 12.773839950561523,
376
+ 196.0616912841797
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 372.65262916432346,
382
+ -66.28759809265136,
383
+ 585.7906912841797
384
+ ],
385
+ "extent": [
386
+ 180.29879760742188,
387
+ 12.773839950561523,
388
+ 196.0616912841797
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 372.65262916432346,
398
+ -66.2876,
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
+ 255
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_11_1",
420
+ "bbox_2d": [
421
+ 284,
422
+ 283,
423
+ 716,
424
+ 766
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ 511.1336596819017,
430
+ -218.0759923706055,
431
+ 542.9191550292969
432
+ ],
433
+ "extent": [
434
+ 41.81835937500003,
435
+ 163.89883422851562,
436
+ 153.19015502929688
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ 511.1336596819017,
442
+ -218.0759923706055,
443
+ 542.9191550292969
444
+ ],
445
+ "extent": [
446
+ 41.81835937500003,
447
+ 163.89883422851562,
448
+ 153.19015502929688
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ 511.1336291643235,
458
+ -218.076,
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
+ 0,
475
+ 127
476
+ ]
477
+ },
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Wall_12_1",
480
+ "bbox_2d": [
481
+ 0,
482
+ 326,
483
+ 284,
484
+ 766
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ 508.3386596819016,
490
+ -682.396,
491
+ 542.9197043457032
492
+ ],
493
+ "extent": [
494
+ 39.0238037109375,
495
+ 301.61383056640625,
496
+ 153.19070434570312
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ 508.3386596819016,
502
+ -682.396,
503
+ 542.9197043457032
504
+ ],
505
+ "extent": [
506
+ 39.0238037109375,
507
+ 301.61383056640625,
508
+ 153.19070434570312
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ 508.3386291643235,
518
+ -682.396,
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
+ 255,
535
+ 127
536
+ ]
537
+ }
538
+ ],
539
+ "floor glass": [
540
+ {
541
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
542
+ "bbox_2d": [
543
+ 0,
544
+ 916,
545
+ 83,
546
+ 1023
547
+ ],
548
+ "bbox_3d": {
549
+ "aabb": {
550
+ "center": [
551
+ 12.276647143554683,
552
+ -409.4788231201171,
553
+ 399.4571883544922
554
+ ],
555
+ "extent": [
556
+ 250.27244567871094,
557
+ 216.33436584472653,
558
+ 0.0432586669921875
559
+ ]
560
+ },
561
+ "obb": {
562
+ "center": [
563
+ 12.276647143554698,
564
+ -409.4788231201171,
565
+ 399.4571883544922
566
+ ],
567
+ "extent": [
568
+ 250.27244567871094,
569
+ 216.33436584472653,
570
+ 0.0432586669921875
571
+ ],
572
+ "rotation": [
573
+ 0,
574
+ 0,
575
+ 0
576
+ ]
577
+ },
578
+ "location": [
579
+ 15.1527,
580
+ -467.032,
581
+ 399.161
582
+ ],
583
+ "rotation": [
584
+ 0,
585
+ 0,
586
+ 0
587
+ ],
588
+ "scale": [
589
+ 1,
590
+ 1,
591
+ 1
592
+ ]
593
+ },
594
+ "color": [
595
+ 127,
596
+ 0,
597
+ 63
598
+ ]
599
+ }
600
+ ]
601
+ },
602
+ "foreground": {
603
+ "extinguisher": [
604
+ {
605
+ "object_id": "SM_AI_vol12_02_Extinguisher_1_1",
606
+ "bbox_2d": [
607
+ 764,
608
+ 885,
609
+ 876,
610
+ 1079
611
+ ],
612
+ "bbox_3d": {
613
+ "aabb": {
614
+ "center": [
615
+ 153.63098881043288,
616
+ -43.22538806211874,
617
+ 421.40474051828005
618
+ ],
619
+ "extent": [
620
+ 21.287885934933513,
621
+ 16.26477284334358,
622
+ 21.987218856811523
623
+ ]
624
+ },
625
+ "obb": {
626
+ "center": [
627
+ 153.63098881043288,
628
+ -43.22538806211874,
629
+ 421.40474051828005
630
+ ],
631
+ "extent": [
632
+ 21.287885934933513,
633
+ 16.26477284334358,
634
+ 21.987218856811523
635
+ ],
636
+ "rotation": [
637
+ 0,
638
+ 111.8972898558426,
639
+ 0
640
+ ]
641
+ },
642
+ "location": [
643
+ 162.58242705481797,
644
+ -50.307300947892294,
645
+ 413.97719306344607
646
+ ],
647
+ "rotation": [
648
+ 0,
649
+ 111.8972898558426,
650
+ 0
651
+ ],
652
+ "scale": [
653
+ 1,
654
+ 1,
655
+ 1
656
+ ]
657
+ },
658
+ "color": [
659
+ 191,
660
+ 0,
661
+ 0
662
+ ]
663
+ }
664
+ ]
665
+ }
666
+ }
scenes/annotations/AIUE5_vol12_02/l040_off1_r004/scene_annotations_split.json ADDED
@@ -0,0 +1,362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l040_off1_r004",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l040_off1_r004/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 67,
8
+ -741,
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
+ 67,
38
+ -741,
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
+ "floor": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
56
+ "bbox_2d": [
57
+ 0,
58
+ 1009,
59
+ 726,
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_13_1",
118
+ "bbox_2d": [
119
+ 800,
120
+ 0,
121
+ 1919,
122
+ 1079
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 234.64462916432342,
128
+ -947.386,
129
+ 585.7877158203125
130
+ ],
131
+ "extent": [
132
+ 312.718505859375,
133
+ 36.62384033203125,
134
+ 196.0587158203125
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 234.64462916432345,
140
+ -947.386,
141
+ 585.7877158203125
142
+ ],
143
+ "extent": [
144
+ 312.718505859375,
145
+ 36.62384033203125,
146
+ 196.0587158203125
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 234.64462916432345,
156
+ -947.386,
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
+ 0
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Wall_14_1",
178
+ "bbox_2d": [
179
+ 0,
180
+ 0,
181
+ 800,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ -424.933,
188
+ -799.094,
189
+ 585.79394140625
190
+ ],
191
+ "extent": [
192
+ 352.08929443359375,
193
+ 136.33853149414062,
194
+ 196.06494140625
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ -424.933,
200
+ -799.094,
201
+ 585.79394140625
202
+ ],
203
+ "extent": [
204
+ 352.08929443359375,
205
+ 136.33853149414062,
206
+ 196.06494140625
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ -424.933,
216
+ -799.094,
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
+ 255
234
+ ]
235
+ }
236
+ ]
237
+ },
238
+ "foreground": {
239
+ "image": [
240
+ {
241
+ "object_id": "SM_AI_vol12_02_Image_1_1",
242
+ "bbox_2d": [
243
+ 0,
244
+ 81,
245
+ 185,
246
+ 811
247
+ ],
248
+ "bbox_3d": {
249
+ "aabb": {
250
+ "center": [
251
+ -384.71616552117706,
252
+ -789.422156409466,
253
+ 545.0371241461015
254
+ ],
255
+ "extent": [
256
+ 168.92144315253228,
257
+ 70.1407321337856,
258
+ 88.80811647147846
259
+ ]
260
+ },
261
+ "obb": {
262
+ "center": [
263
+ -384.71616552117706,
264
+ -789.422156409466,
265
+ 545.0371241461015
266
+ ],
267
+ "extent": [
268
+ 168.92144315253228,
269
+ 70.1407321337856,
270
+ 88.80811647147846
271
+ ],
272
+ "rotation": [
273
+ 0.007890922360343958,
274
+ -20.58249103964926,
275
+ 1.3072029230361613
276
+ ]
277
+ },
278
+ "location": [
279
+ -383.3633926958175,
280
+ -785.8251142028387,
281
+ 544.9494309980133
282
+ ],
283
+ "rotation": [
284
+ 0.007890922360343958,
285
+ -20.58249103964926,
286
+ 1.3072029230361613
287
+ ],
288
+ "scale": [
289
+ 1.1821715831756592,
290
+ 1.1821715831756592,
291
+ 1.1821715831756592
292
+ ]
293
+ },
294
+ "color": [
295
+ 191,
296
+ 127,
297
+ 127
298
+ ]
299
+ },
300
+ {
301
+ "object_id": "SM_AI_vol12_02_Image_5_1",
302
+ "bbox_2d": [
303
+ 1113,
304
+ 0,
305
+ 1919,
306
+ 900
307
+ ],
308
+ "bbox_3d": {
309
+ "aabb": {
310
+ "center": [
311
+ 125.82288900531462,
312
+ -927.2432957813853,
313
+ 542.2026911411142
314
+ ],
315
+ "extent": [
316
+ 124.99209902213336,
317
+ 17.166647818014212,
318
+ 69.08589758662632
319
+ ]
320
+ },
321
+ "obb": {
322
+ "center": [
323
+ 125.82288900531462,
324
+ -927.2432957813853,
325
+ 542.2026911411142
326
+ ],
327
+ "extent": [
328
+ 124.99209902213336,
329
+ 17.166647818014212,
330
+ 69.08589758662632
331
+ ],
332
+ "rotation": [
333
+ 1.2424041724466862e-17,
334
+ -4.67383473018151,
335
+ 0.7026667060359305
336
+ ]
337
+ },
338
+ "location": [
339
+ 126.25889584774549,
340
+ -921.9101260497847,
341
+ 542.1370644606101
342
+ ],
343
+ "rotation": [
344
+ 1.2424041724466862e-17,
345
+ -4.67383473018151,
346
+ 0.7026667060359305
347
+ ],
348
+ "scale": [
349
+ 1,
350
+ 1.5324999657459557,
351
+ 1
352
+ ]
353
+ },
354
+ "color": [
355
+ 191,
356
+ 63,
357
+ 127
358
+ ]
359
+ }
360
+ ]
361
+ }
362
+ }
scenes/annotations/AIUE5_vol12_02/l042_off2_r005/scene_annotations_split.json ADDED
@@ -0,0 +1,1156 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l042_off2_r005",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l042_off2_r005/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -283,
8
+ -361,
9
+ 553
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
+ -283,
38
+ -361,
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_4_1",
56
+ "bbox_2d": [
57
+ 1375,
58
+ 232,
59
+ 1482,
60
+ 391
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 363.8465741695809,
66
+ -682.1896706542968,
67
+ 802.9227625732422
68
+ ],
69
+ "extent": [
70
+ 184.16900634765628,
71
+ 301.8201599121094,
72
+ 181.7854461669922
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 363.8465741695809,
78
+ -682.1896706542968,
79
+ 802.9227625732422
80
+ ],
81
+ "extent": [
82
+ 184.16900634765628,
83
+ 301.8201599121094,
84
+ 181.7854461669922
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 363.84658179897536,
94
+ -682.396,
95
+ 621.213
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
+ 0
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Ceiling_5_1",
116
+ "bbox_2d": [
117
+ 808,
118
+ 0,
119
+ 1433,
120
+ 391
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 235.30658179897534,
126
+ -771.5090216064453,
127
+ 840.335248413086
128
+ ],
129
+ "extent": [
130
+ 312.708740234375,
131
+ 212.50108337402344,
132
+ 144.37535095214844
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 235.30658179897532,
138
+ -771.5090216064453,
139
+ 840.335248413086
140
+ ],
141
+ "extent": [
142
+ 312.708740234375,
143
+ 212.50108337402344,
144
+ 144.37535095214844
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 235.30658179897532,
154
+ -771.715,
155
+ 696.065
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
+ 255
172
+ ]
173
+ },
174
+ {
175
+ "object_id": "SM_AI_vol12_02_Ceiling_6_1",
176
+ "bbox_2d": [
177
+ 396,
178
+ 0,
179
+ 920,
180
+ 162
181
+ ],
182
+ "bbox_3d": {
183
+ "aabb": {
184
+ "center": [
185
+ -404.05967418246996,
186
+ -716.3239847412109,
187
+ 887.444958618164
188
+ ],
189
+ "extent": [
190
+ 372.09881591796875,
191
+ 219.1094207763672,
192
+ 105.74501037597656
193
+ ]
194
+ },
195
+ "obb": {
196
+ "center": [
197
+ -404.05967418246996,
198
+ -716.3239847412109,
199
+ 887.444958618164
200
+ ],
201
+ "extent": [
202
+ 372.09881591796875,
203
+ 219.1094207763672,
204
+ 105.74501037597656
205
+ ],
206
+ "rotation": [
207
+ 0,
208
+ 0,
209
+ 0
210
+ ]
211
+ },
212
+ "location": [
213
+ -404.27541820102465,
214
+ -716.324,
215
+ 781.828
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
+ 0,
231
+ 127
232
+ ]
233
+ }
234
+ ],
235
+ "floor": [
236
+ {
237
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
238
+ "bbox_2d": [
239
+ 0,
240
+ 701,
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
+ 910,
300
+ 813,
301
+ 1919,
302
+ 1079
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_4_1",
360
+ "bbox_2d": [
361
+ 1395,
362
+ 704,
363
+ 1395,
364
+ 704
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 489.6886770629883,
370
+ -663.5999932861328,
371
+ 214.63871374511717
372
+ ],
373
+ "extent": [
374
+ 52.443214416503906,
375
+ 285.02001953125,
376
+ 184.9097137451172
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 489.6886770629883,
382
+ -663.5999932861328,
383
+ 214.63871374511717
384
+ ],
385
+ "extent": [
386
+ 52.443214416503906,
387
+ 285.02001953125,
388
+ 184.9097137451172
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 490.49,
398
+ -664.06,
399
+ 29.729
400
+ ],
401
+ "rotation": [
402
+ 0,
403
+ 0,
404
+ 0
405
+ ],
406
+ "scale": [
407
+ 1,
408
+ 1,
409
+ 1
410
+ ]
411
+ },
412
+ "color": [
413
+ 255,
414
+ 127,
415
+ 255
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_12_1",
420
+ "bbox_2d": [
421
+ 1373,
422
+ 391,
423
+ 1919,
424
+ 801
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ 508.3386596819016,
430
+ -682.396,
431
+ 542.9197043457032
432
+ ],
433
+ "extent": [
434
+ 39.0238037109375,
435
+ 301.61383056640625,
436
+ 153.19070434570312
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ 508.3386596819016,
442
+ -682.396,
443
+ 542.9197043457032
444
+ ],
445
+ "extent": [
446
+ 39.0238037109375,
447
+ 301.61383056640625,
448
+ 153.19070434570312
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ 508.3386291643235,
458
+ -682.396,
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
+ 127
476
+ ]
477
+ },
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Wall_13_1",
480
+ "bbox_2d": [
481
+ 806,
482
+ 162,
483
+ 1373,
484
+ 792
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ 234.64462916432342,
490
+ -947.386,
491
+ 585.7877158203125
492
+ ],
493
+ "extent": [
494
+ 312.718505859375,
495
+ 36.62384033203125,
496
+ 196.0587158203125
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ 234.64462916432345,
502
+ -947.386,
503
+ 585.7877158203125
504
+ ],
505
+ "extent": [
506
+ 312.718505859375,
507
+ 36.62384033203125,
508
+ 196.0587158203125
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ 234.64462916432345,
518
+ -947.386,
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
+ 0
536
+ ]
537
+ },
538
+ {
539
+ "object_id": "SM_AI_vol12_02_Wall_14_1",
540
+ "bbox_2d": [
541
+ 0,
542
+ 0,
543
+ 806,
544
+ 1010
545
+ ],
546
+ "bbox_3d": {
547
+ "aabb": {
548
+ "center": [
549
+ -424.933,
550
+ -799.094,
551
+ 585.79394140625
552
+ ],
553
+ "extent": [
554
+ 352.08929443359375,
555
+ 136.33853149414062,
556
+ 196.06494140625
557
+ ]
558
+ },
559
+ "obb": {
560
+ "center": [
561
+ -424.933,
562
+ -799.094,
563
+ 585.79394140625
564
+ ],
565
+ "extent": [
566
+ 352.08929443359375,
567
+ 136.33853149414062,
568
+ 196.06494140625
569
+ ],
570
+ "rotation": [
571
+ 0,
572
+ 0,
573
+ 0
574
+ ]
575
+ },
576
+ "location": [
577
+ -424.933,
578
+ -799.094,
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
+ 127,
595
+ 255
596
+ ]
597
+ }
598
+ ],
599
+ "floor glass": [
600
+ {
601
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
602
+ "bbox_2d": [
603
+ 1281,
604
+ 923,
605
+ 1919,
606
+ 1079
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
+ "window": [
662
+ {
663
+ "object_id": "SM_AI_vol12_02_Window_4_1",
664
+ "bbox_2d": [
665
+ 1365,
666
+ 422,
667
+ 1394,
668
+ 701
669
+ ],
670
+ "bbox_3d": {
671
+ "aabb": {
672
+ "center": [
673
+ 478.3979389648438,
674
+ -899.502,
675
+ 351.0958979003906
676
+ ],
677
+ "extent": [
678
+ 66.072265625,
679
+ 81.93475341796875,
680
+ 319.7940979003906
681
+ ]
682
+ },
683
+ "obb": {
684
+ "center": [
685
+ 478.3979389648438,
686
+ -899.502,
687
+ 351.09589790039064
688
+ ],
689
+ "extent": [
690
+ 66.072265625,
691
+ 81.93475341796875,
692
+ 319.7940979003906
693
+ ],
694
+ "rotation": [
695
+ 0,
696
+ 0,
697
+ 0
698
+ ]
699
+ },
700
+ "location": [
701
+ 478.398,
702
+ -899.502,
703
+ 31.3018
704
+ ],
705
+ "rotation": [
706
+ 0,
707
+ 0,
708
+ 0
709
+ ],
710
+ "scale": [
711
+ 1,
712
+ 1,
713
+ 1
714
+ ]
715
+ },
716
+ "color": [
717
+ 255,
718
+ 63,
719
+ 255
720
+ ]
721
+ }
722
+ ],
723
+ "window glass": [
724
+ {
725
+ "object_id": "SM_AI_vol12_02_Window_glass_4_1",
726
+ "bbox_2d": [
727
+ 1365,
728
+ 434,
729
+ 1394,
730
+ 704
731
+ ],
732
+ "bbox_3d": {
733
+ "aabb": {
734
+ "center": [
735
+ 478.668,
736
+ -899.8300305175782,
737
+ 351.19856162109375
738
+ ],
739
+ "extent": [
740
+ 63.623291015625,
741
+ 79.35452270507812,
742
+ 318.74066162109375
743
+ ]
744
+ },
745
+ "obb": {
746
+ "center": [
747
+ 478.668,
748
+ -899.8300305175782,
749
+ 351.19856162109375
750
+ ],
751
+ "extent": [
752
+ 63.623291015625,
753
+ 79.35452270507812,
754
+ 318.74066162109375
755
+ ],
756
+ "rotation": [
757
+ 0,
758
+ 0,
759
+ 0
760
+ ]
761
+ },
762
+ "location": [
763
+ 478.668,
764
+ -899.83,
765
+ 32.4579
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
+ 63
782
+ ]
783
+ }
784
+ ],
785
+ "ceiling box": [
786
+ {
787
+ "object_id": "SM_AI_vol12_02_Ceiling_Box_1_1",
788
+ "bbox_2d": [
789
+ 1364,
790
+ 0,
791
+ 1919,
792
+ 662
793
+ ],
794
+ "bbox_3d": {
795
+ "aabb": {
796
+ "center": [
797
+ 2.5983100000000263,
798
+ -409.323,
799
+ 760.3711724853515
800
+ ],
801
+ "extent": [
802
+ 260.15771484375,
803
+ 228.5609130859375,
804
+ 245.18885803222656
805
+ ]
806
+ },
807
+ "obb": {
808
+ "center": [
809
+ 2.5983100000000263,
810
+ -409.323,
811
+ 760.3711724853515
812
+ ],
813
+ "extent": [
814
+ 260.15771484375,
815
+ 228.5609130859375,
816
+ 245.18885803222656
817
+ ],
818
+ "rotation": [
819
+ 0,
820
+ 0,
821
+ 0
822
+ ]
823
+ },
824
+ "location": [
825
+ 2.59831,
826
+ -409.323,
827
+ 1005.56
828
+ ],
829
+ "rotation": [
830
+ 0,
831
+ 0,
832
+ 0
833
+ ],
834
+ "scale": [
835
+ 1,
836
+ 1,
837
+ 1
838
+ ]
839
+ },
840
+ "color": [
841
+ 63,
842
+ 255,
843
+ 255
844
+ ]
845
+ }
846
+ ]
847
+ },
848
+ "foreground": {
849
+ "long lamp": [
850
+ {
851
+ "object_id": "SM_AI_vol12_02_longlamp_1_1",
852
+ "bbox_2d": [
853
+ 1095,
854
+ 0,
855
+ 1418,
856
+ 425
857
+ ],
858
+ "bbox_3d": {
859
+ "aabb": {
860
+ "center": [
861
+ 172.34940584703398,
862
+ -763.3802747142901,
863
+ 765.8418885659373
864
+ ],
865
+ "extent": [
866
+ 152.07876551615615,
867
+ 20.119448477602646,
868
+ 133.34738159179688
869
+ ]
870
+ },
871
+ "obb": {
872
+ "center": [
873
+ 172.34940584703398,
874
+ -763.3802747142901,
875
+ 765.8418885659373
876
+ ],
877
+ "extent": [
878
+ 152.07876551615615,
879
+ 20.119448477602646,
880
+ 133.34738159179688
881
+ ],
882
+ "rotation": [
883
+ 0,
884
+ -6.443922772533881,
885
+ 0
886
+ ]
887
+ },
888
+ "location": [
889
+ 172.34934326220827,
890
+ -763.3802170195245,
891
+ 899.1892701577342
892
+ ],
893
+ "rotation": [
894
+ 0,
895
+ -6.443922772533881,
896
+ 0
897
+ ],
898
+ "scale": [
899
+ 1,
900
+ 1,
901
+ 1
902
+ ]
903
+ },
904
+ "color": [
905
+ 63,
906
+ 127,
907
+ 0
908
+ ]
909
+ }
910
+ ],
911
+ "image": [
912
+ {
913
+ "object_id": "SM_AI_vol12_02_Image_1_1",
914
+ "bbox_2d": [
915
+ 0,
916
+ 287,
917
+ 569,
918
+ 840
919
+ ],
920
+ "bbox_3d": {
921
+ "aabb": {
922
+ "center": [
923
+ -384.71616552117706,
924
+ -789.422156409466,
925
+ 545.0371241461015
926
+ ],
927
+ "extent": [
928
+ 168.92144315253228,
929
+ 70.1407321337856,
930
+ 88.80811647147846
931
+ ]
932
+ },
933
+ "obb": {
934
+ "center": [
935
+ -384.71616552117706,
936
+ -789.422156409466,
937
+ 545.0371241461015
938
+ ],
939
+ "extent": [
940
+ 168.92144315253228,
941
+ 70.1407321337856,
942
+ 88.80811647147846
943
+ ],
944
+ "rotation": [
945
+ 0.007890922360343958,
946
+ -20.58249103964926,
947
+ 1.3072029230361613
948
+ ]
949
+ },
950
+ "location": [
951
+ -383.3633926958175,
952
+ -785.8251142028387,
953
+ 544.9494309980133
954
+ ],
955
+ "rotation": [
956
+ 0.007890922360343958,
957
+ -20.58249103964926,
958
+ 1.3072029230361613
959
+ ],
960
+ "scale": [
961
+ 1.1821715831756592,
962
+ 1.1821715831756592,
963
+ 1.1821715831756592
964
+ ]
965
+ },
966
+ "color": [
967
+ 191,
968
+ 127,
969
+ 127
970
+ ]
971
+ },
972
+ {
973
+ "object_id": "SM_AI_vol12_02_Image_3_1",
974
+ "bbox_2d": [
975
+ 1493,
976
+ 487,
977
+ 1881,
978
+ 703
979
+ ],
980
+ "bbox_3d": {
981
+ "aabb": {
982
+ "center": [
983
+ 499.6606907690431,
984
+ -709.0623865006586,
985
+ 525.7181883448701
986
+ ],
987
+ "extent": [
988
+ 15.609846164806385,
989
+ 125.86093947633708,
990
+ 71.01539611816406
991
+ ]
992
+ },
993
+ "obb": {
994
+ "center": [
995
+ 499.6606907690431,
996
+ -709.0623865006586,
997
+ 525.7181883448701
998
+ ],
999
+ "extent": [
1000
+ 15.609846164806385,
1001
+ 125.86093947633708,
1002
+ 71.01539611816406
1003
+ ],
1004
+ "rotation": [
1005
+ 0,
1006
+ 95.07878300205863,
1007
+ 0
1008
+ ]
1009
+ },
1010
+ "location": [
1011
+ 496.25547680402275,
1012
+ -709.3650419247047,
1013
+ 525.7181883448701
1014
+ ],
1015
+ "rotation": [
1016
+ 0,
1017
+ 95.07878300205863,
1018
+ 0
1019
+ ],
1020
+ "scale": [
1021
+ 1,
1022
+ 1,
1023
+ 1
1024
+ ]
1025
+ },
1026
+ "color": [
1027
+ 191,
1028
+ 63,
1029
+ 0
1030
+ ]
1031
+ },
1032
+ {
1033
+ "object_id": "SM_AI_vol12_02_Image_5_1",
1034
+ "bbox_2d": [
1035
+ 914,
1036
+ 450,
1037
+ 1182,
1038
+ 663
1039
+ ],
1040
+ "bbox_3d": {
1041
+ "aabb": {
1042
+ "center": [
1043
+ 125.82288900531462,
1044
+ -927.2432957813853,
1045
+ 542.2026911411142
1046
+ ],
1047
+ "extent": [
1048
+ 124.99209902213336,
1049
+ 17.166647818014212,
1050
+ 69.08589758662632
1051
+ ]
1052
+ },
1053
+ "obb": {
1054
+ "center": [
1055
+ 125.82288900531462,
1056
+ -927.2432957813853,
1057
+ 542.2026911411142
1058
+ ],
1059
+ "extent": [
1060
+ 124.99209902213336,
1061
+ 17.166647818014212,
1062
+ 69.08589758662632
1063
+ ],
1064
+ "rotation": [
1065
+ 1.2424041724466862e-17,
1066
+ -4.67383473018151,
1067
+ 0.7026667060359305
1068
+ ]
1069
+ },
1070
+ "location": [
1071
+ 126.25889584774549,
1072
+ -921.9101260497847,
1073
+ 542.1370644606101
1074
+ ],
1075
+ "rotation": [
1076
+ 1.2424041724466862e-17,
1077
+ -4.67383473018151,
1078
+ 0.7026667060359305
1079
+ ],
1080
+ "scale": [
1081
+ 1,
1082
+ 1.5324999657459557,
1083
+ 1
1084
+ ]
1085
+ },
1086
+ "color": [
1087
+ 191,
1088
+ 63,
1089
+ 127
1090
+ ]
1091
+ }
1092
+ ],
1093
+ "info plate": [
1094
+ {
1095
+ "object_id": "SM_AI_vol12_02_info_plate_1_1",
1096
+ "bbox_2d": [
1097
+ 1311,
1098
+ 577,
1099
+ 1327,
1100
+ 597
1101
+ ],
1102
+ "bbox_3d": {
1103
+ "aabb": {
1104
+ "center": [
1105
+ 433.8008317966959,
1106
+ -950.9521040304816,
1107
+ 509.9311721607132
1108
+ ],
1109
+ "extent": [
1110
+ 11.448534738079275,
1111
+ 2.172825999524207,
1112
+ 9.310245292396928
1113
+ ]
1114
+ },
1115
+ "obb": {
1116
+ "center": [
1117
+ 433.8008317966959,
1118
+ -950.9521040304816,
1119
+ 509.9311721607132
1120
+ ],
1121
+ "extent": [
1122
+ 11.448534738079275,
1123
+ 2.172825999524207,
1124
+ 9.310245292396928
1125
+ ],
1126
+ "rotation": [
1127
+ 1.3169656283488795,
1128
+ 85.09978373942465,
1129
+ -90.51575803305882
1130
+ ]
1131
+ },
1132
+ "location": [
1133
+ 433.7160418625295,
1134
+ -951.9410916047187,
1135
+ 509.90834916922466
1136
+ ],
1137
+ "rotation": [
1138
+ 1.3169656283488795,
1139
+ 85.09978373942465,
1140
+ -90.51575803305882
1141
+ ],
1142
+ "scale": [
1143
+ 1,
1144
+ 1.159895658493042,
1145
+ 1
1146
+ ]
1147
+ },
1148
+ "color": [
1149
+ 191,
1150
+ 0,
1151
+ 31
1152
+ ]
1153
+ }
1154
+ ]
1155
+ }
1156
+ }
scenes/annotations/AIUE5_vol12_02/l043_off0_r000/scene_annotations_split.json ADDED
@@ -0,0 +1,854 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l043_off0_r000",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l043_off0_r000/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 40,
8
+ -576,
9
+ 493
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
+ 40,
38
+ -576,
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
+ "ceiling": [
54
+ {
55
+ "object_id": "SM_AI_vol12_02_Ceiling_4_1",
56
+ "bbox_2d": [
57
+ 196,
58
+ 0,
59
+ 1462,
60
+ 252
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 363.8465741695809,
66
+ -682.1896706542968,
67
+ 802.9227625732422
68
+ ],
69
+ "extent": [
70
+ 184.16900634765628,
71
+ 301.8201599121094,
72
+ 181.7854461669922
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 363.8465741695809,
78
+ -682.1896706542968,
79
+ 802.9227625732422
80
+ ],
81
+ "extent": [
82
+ 184.16900634765628,
83
+ 301.8201599121094,
84
+ 181.7854461669922
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 363.84658179897536,
94
+ -682.396,
95
+ 621.213
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
+ 0
112
+ ]
113
+ },
114
+ {
115
+ "object_id": "SM_AI_vol12_02_Ceiling_5_1",
116
+ "bbox_2d": [
117
+ 16,
118
+ 0,
119
+ 240,
120
+ 141
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 235.30658179897534,
126
+ -771.5090216064453,
127
+ 840.335248413086
128
+ ],
129
+ "extent": [
130
+ 312.708740234375,
131
+ 212.50108337402344,
132
+ 144.37535095214844
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 235.30658179897532,
138
+ -771.5090216064453,
139
+ 840.335248413086
140
+ ],
141
+ "extent": [
142
+ 312.708740234375,
143
+ 212.50108337402344,
144
+ 144.37535095214844
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 235.30658179897532,
154
+ -771.715,
155
+ 696.065
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
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "floor": [
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
178
+ "bbox_2d": [
179
+ 0,
180
+ 727,
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
+ 785,
240
+ 785,
241
+ 1919,
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_11_1",
300
+ "bbox_2d": [
301
+ 1396,
302
+ 150,
303
+ 1919,
304
+ 748
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 511.1336596819017,
310
+ -218.0759923706055,
311
+ 542.9191550292969
312
+ ],
313
+ "extent": [
314
+ 41.81835937500003,
315
+ 163.89883422851562,
316
+ 153.19015502929688
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 511.1336596819017,
322
+ -218.0759923706055,
323
+ 542.9191550292969
324
+ ],
325
+ "extent": [
326
+ 41.81835937500003,
327
+ 163.89883422851562,
328
+ 153.19015502929688
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 511.1336291643235,
338
+ -218.076,
339
+ 389.729
340
+ ],
341
+ "rotation": [
342
+ 0,
343
+ 0,
344
+ 0
345
+ ],
346
+ "scale": [
347
+ 1,
348
+ 1,
349
+ 1
350
+ ]
351
+ },
352
+ "color": [
353
+ 127,
354
+ 0,
355
+ 127
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_AI_vol12_02_Wall_12_1",
360
+ "bbox_2d": [
361
+ 192,
362
+ 142,
363
+ 1395,
364
+ 748
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 508.3386596819016,
370
+ -682.396,
371
+ 542.9197043457032
372
+ ],
373
+ "extent": [
374
+ 39.0238037109375,
375
+ 301.61383056640625,
376
+ 153.19070434570312
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 508.3386596819016,
382
+ -682.396,
383
+ 542.9197043457032
384
+ ],
385
+ "extent": [
386
+ 39.0238037109375,
387
+ 301.61383056640625,
388
+ 153.19070434570312
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 508.3386291643235,
398
+ -682.396,
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
+ 127
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_13_1",
420
+ "bbox_2d": [
421
+ 0,
422
+ 0,
423
+ 195,
424
+ 781
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ 234.64462916432342,
430
+ -947.386,
431
+ 585.7877158203125
432
+ ],
433
+ "extent": [
434
+ 312.718505859375,
435
+ 36.62384033203125,
436
+ 196.0587158203125
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ 234.64462916432345,
442
+ -947.386,
443
+ 585.7877158203125
444
+ ],
445
+ "extent": [
446
+ 312.718505859375,
447
+ 36.62384033203125,
448
+ 196.0587158203125
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ 234.64462916432345,
458
+ -947.386,
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
+ 0
476
+ ]
477
+ }
478
+ ],
479
+ "floor glass": [
480
+ {
481
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
482
+ "bbox_2d": [
483
+ 1866,
484
+ 1056,
485
+ 1909,
486
+ 1079
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
+ 171,
546
+ 199,
547
+ 239,
548
+ 727
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
+ "window glass": [
604
+ {
605
+ "object_id": "SM_AI_vol12_02_Window_glass_4_1",
606
+ "bbox_2d": [
607
+ 170,
608
+ 212,
609
+ 239,
610
+ 735
611
+ ],
612
+ "bbox_3d": {
613
+ "aabb": {
614
+ "center": [
615
+ 478.668,
616
+ -899.8300305175782,
617
+ 351.19856162109375
618
+ ],
619
+ "extent": [
620
+ 63.623291015625,
621
+ 79.35452270507812,
622
+ 318.74066162109375
623
+ ]
624
+ },
625
+ "obb": {
626
+ "center": [
627
+ 478.668,
628
+ -899.8300305175782,
629
+ 351.19856162109375
630
+ ],
631
+ "extent": [
632
+ 63.623291015625,
633
+ 79.35452270507812,
634
+ 318.74066162109375
635
+ ],
636
+ "rotation": [
637
+ 0,
638
+ 0,
639
+ 0
640
+ ]
641
+ },
642
+ "location": [
643
+ 478.668,
644
+ -899.83,
645
+ 32.4579
646
+ ],
647
+ "rotation": [
648
+ 0,
649
+ 0,
650
+ 0
651
+ ],
652
+ "scale": [
653
+ 1,
654
+ 1,
655
+ 1
656
+ ]
657
+ },
658
+ "color": [
659
+ 127,
660
+ 63,
661
+ 63
662
+ ]
663
+ }
664
+ ]
665
+ },
666
+ "foreground": {
667
+ "long lamp": [
668
+ {
669
+ "object_id": "SM_AI_vol12_02_longlamp_1_1",
670
+ "bbox_2d": [
671
+ 173,
672
+ 0,
673
+ 279,
674
+ 68
675
+ ],
676
+ "bbox_3d": {
677
+ "aabb": {
678
+ "center": [
679
+ 172.34940584703398,
680
+ -763.3802747142901,
681
+ 765.8418885659373
682
+ ],
683
+ "extent": [
684
+ 152.07876551615615,
685
+ 20.119448477602646,
686
+ 133.34738159179688
687
+ ]
688
+ },
689
+ "obb": {
690
+ "center": [
691
+ 172.34940584703398,
692
+ -763.3802747142901,
693
+ 765.8418885659373
694
+ ],
695
+ "extent": [
696
+ 152.07876551615615,
697
+ 20.119448477602646,
698
+ 133.34738159179688
699
+ ],
700
+ "rotation": [
701
+ 0,
702
+ -6.443922772533881,
703
+ 0
704
+ ]
705
+ },
706
+ "location": [
707
+ 172.34934326220827,
708
+ -763.3802170195245,
709
+ 899.1892701577342
710
+ ],
711
+ "rotation": [
712
+ 0,
713
+ -6.443922772533881,
714
+ 0
715
+ ],
716
+ "scale": [
717
+ 1,
718
+ 1,
719
+ 1
720
+ ]
721
+ },
722
+ "color": [
723
+ 63,
724
+ 127,
725
+ 0
726
+ ]
727
+ }
728
+ ],
729
+ "image": [
730
+ {
731
+ "object_id": "SM_AI_vol12_02_Image_3_1",
732
+ "bbox_2d": [
733
+ 427,
734
+ 316,
735
+ 942,
736
+ 622
737
+ ],
738
+ "bbox_3d": {
739
+ "aabb": {
740
+ "center": [
741
+ 499.6606907690431,
742
+ -709.0623865006586,
743
+ 525.7181883448701
744
+ ],
745
+ "extent": [
746
+ 15.609846164806385,
747
+ 125.86093947633708,
748
+ 71.01539611816406
749
+ ]
750
+ },
751
+ "obb": {
752
+ "center": [
753
+ 499.6606907690431,
754
+ -709.0623865006586,
755
+ 525.7181883448701
756
+ ],
757
+ "extent": [
758
+ 15.609846164806385,
759
+ 125.86093947633708,
760
+ 71.01539611816406
761
+ ],
762
+ "rotation": [
763
+ 0,
764
+ 95.07878300205863,
765
+ 0
766
+ ]
767
+ },
768
+ "location": [
769
+ 496.25547680402275,
770
+ -709.3650419247047,
771
+ 525.7181883448701
772
+ ],
773
+ "rotation": [
774
+ 0,
775
+ 95.07878300205863,
776
+ 0
777
+ ],
778
+ "scale": [
779
+ 1,
780
+ 1,
781
+ 1
782
+ ]
783
+ },
784
+ "color": [
785
+ 191,
786
+ 63,
787
+ 0
788
+ ]
789
+ }
790
+ ],
791
+ "info plate": [
792
+ {
793
+ "object_id": "SM_AI_vol12_02_info_plate_1_1",
794
+ "bbox_2d": [
795
+ 18,
796
+ 474,
797
+ 71,
798
+ 521
799
+ ],
800
+ "bbox_3d": {
801
+ "aabb": {
802
+ "center": [
803
+ 433.8008317966959,
804
+ -950.9521040304816,
805
+ 509.9311721607132
806
+ ],
807
+ "extent": [
808
+ 11.448534738079275,
809
+ 2.172825999524207,
810
+ 9.310245292396928
811
+ ]
812
+ },
813
+ "obb": {
814
+ "center": [
815
+ 433.8008317966959,
816
+ -950.9521040304816,
817
+ 509.9311721607132
818
+ ],
819
+ "extent": [
820
+ 11.448534738079275,
821
+ 2.172825999524207,
822
+ 9.310245292396928
823
+ ],
824
+ "rotation": [
825
+ 1.3169656283488795,
826
+ 85.09978373942465,
827
+ -90.51575803305882
828
+ ]
829
+ },
830
+ "location": [
831
+ 433.7160418625295,
832
+ -951.9410916047187,
833
+ 509.90834916922466
834
+ ],
835
+ "rotation": [
836
+ 1.3169656283488795,
837
+ 85.09978373942465,
838
+ -90.51575803305882
839
+ ],
840
+ "scale": [
841
+ 1,
842
+ 1.159895658493042,
843
+ 1
844
+ ]
845
+ },
846
+ "color": [
847
+ 191,
848
+ 0,
849
+ 31
850
+ ]
851
+ }
852
+ ]
853
+ }
854
+ }
scenes/annotations/AIUE5_vol12_02/l045_off2_r002/scene_annotations_split.json ADDED
@@ -0,0 +1,1644 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l045_off2_r002",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l045_off2_r002/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 309,
8
+ -902,
9
+ 553
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
+ 309,
38
+ -902,
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_2_1",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 595,
60
+ 313
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
+ 0,
118
+ 0,
119
+ 364,
120
+ 307
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
+ "object_id": "SM_AI_vol12_02_Ceiling_6_1",
176
+ "bbox_2d": [
177
+ 1560,
178
+ 0,
179
+ 1919,
180
+ 196
181
+ ],
182
+ "bbox_3d": {
183
+ "aabb": {
184
+ "center": [
185
+ -404.05967418246996,
186
+ -716.3239847412109,
187
+ 887.444958618164
188
+ ],
189
+ "extent": [
190
+ 372.09881591796875,
191
+ 219.1094207763672,
192
+ 105.74501037597656
193
+ ]
194
+ },
195
+ "obb": {
196
+ "center": [
197
+ -404.05967418246996,
198
+ -716.3239847412109,
199
+ 887.444958618164
200
+ ],
201
+ "extent": [
202
+ 372.09881591796875,
203
+ 219.1094207763672,
204
+ 105.74501037597656
205
+ ],
206
+ "rotation": [
207
+ 0,
208
+ 0,
209
+ 0
210
+ ]
211
+ },
212
+ "location": [
213
+ -404.27541820102465,
214
+ -716.324,
215
+ 781.828
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
+ 0,
231
+ 127
232
+ ]
233
+ },
234
+ {
235
+ "object_id": "SM_AI_vol12_02_Ceiling_7_1",
236
+ "bbox_2d": [
237
+ 1162,
238
+ 0,
239
+ 1919,
240
+ 465
241
+ ],
242
+ "bbox_3d": {
243
+ "aabb": {
244
+ "center": [
245
+ -482.9028309207513,
246
+ -380.7269847412109,
247
+ 814.088105834961
248
+ ],
249
+ "extent": [
250
+ 293.25537109375,
251
+ 291.9927978515625,
252
+ 179.09910583496094
253
+ ]
254
+ },
255
+ "obb": {
256
+ "center": [
257
+ -482.9028309207513,
258
+ -380.7269847412109,
259
+ 814.088105834961
260
+ ],
261
+ "extent": [
262
+ 293.25537109375,
263
+ 291.9927978515625,
264
+ 179.09910583496094
265
+ ],
266
+ "rotation": [
267
+ 0,
268
+ 0,
269
+ 0
270
+ ]
271
+ },
272
+ "location": [
273
+ -483.07041820102467,
274
+ -380.727,
275
+ 634.989
276
+ ],
277
+ "rotation": [
278
+ 0,
279
+ 0,
280
+ 0
281
+ ],
282
+ "scale": [
283
+ 1,
284
+ 1,
285
+ 1
286
+ ]
287
+ },
288
+ "color": [
289
+ 0,
290
+ 255,
291
+ 127
292
+ ]
293
+ },
294
+ {
295
+ "object_id": "SM_AI_vol12_02_Ceiling_8_1",
296
+ "bbox_2d": [
297
+ 1109,
298
+ 337,
299
+ 1192,
300
+ 466
301
+ ],
302
+ "bbox_3d": {
303
+ "aabb": {
304
+ "center": [
305
+ -220.91700762939456,
306
+ 107.85474865722655,
307
+ 805.9363876953125
308
+ ],
309
+ "extent": [
310
+ 251.57647705078125,
311
+ 268.6739501953125,
312
+ 171.050048828125
313
+ ]
314
+ },
315
+ "obb": {
316
+ "center": [
317
+ -220.91700762939456,
318
+ 107.85474865722657,
319
+ 805.9363876953125
320
+ ],
321
+ "extent": [
322
+ 251.57647705078125,
323
+ 268.6739501953125,
324
+ 171.050048828125
325
+ ],
326
+ "rotation": [
327
+ 0,
328
+ 0,
329
+ 0
330
+ ]
331
+ },
332
+ "location": [
333
+ -220.917,
334
+ 108.078,
335
+ 634.989
336
+ ],
337
+ "rotation": [
338
+ 0,
339
+ 0,
340
+ 0
341
+ ],
342
+ "scale": [
343
+ 1,
344
+ 1,
345
+ 1
346
+ ]
347
+ },
348
+ "color": [
349
+ 255,
350
+ 0,
351
+ 127
352
+ ]
353
+ }
354
+ ],
355
+ "floor": [
356
+ {
357
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
358
+ "bbox_2d": [
359
+ 0,
360
+ 658,
361
+ 1919,
362
+ 1079
363
+ ],
364
+ "bbox_3d": {
365
+ "aabb": {
366
+ "center": [
367
+ -109.43883007812497,
368
+ -305.40692504882804,
369
+ 381.5008540039062
370
+ ],
371
+ "extent": [
372
+ 632.2734375,
373
+ 649.2933349609375,
374
+ 17.98785400390625
375
+ ]
376
+ },
377
+ "obb": {
378
+ "center": [
379
+ -109.43883007812497,
380
+ -305.40692504882804,
381
+ 381.5008540039062
382
+ ],
383
+ "extent": [
384
+ 632.2734375,
385
+ 649.2933349609375,
386
+ 17.98785400390625
387
+ ],
388
+ "rotation": [
389
+ 0,
390
+ 0,
391
+ 0
392
+ ]
393
+ },
394
+ "location": [
395
+ -107.713,
396
+ -305.84,
397
+ 363.513
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
+ 255,
413
+ 127
414
+ ]
415
+ },
416
+ {
417
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
418
+ "bbox_2d": [
419
+ 120,
420
+ 695,
421
+ 1885,
422
+ 1079
423
+ ],
424
+ "bbox_3d": {
425
+ "aabb": {
426
+ "center": [
427
+ 15.152699999999982,
428
+ -467.03198474121086,
429
+ 399.3307082519531
430
+ ],
431
+ "extent": [
432
+ 390.8625183105469,
433
+ 373.12469482421875,
434
+ 0.169708251953125
435
+ ]
436
+ },
437
+ "obb": {
438
+ "center": [
439
+ 15.152699999999982,
440
+ -467.03198474121086,
441
+ 399.3307082519531
442
+ ],
443
+ "extent": [
444
+ 390.8625183105469,
445
+ 373.12469482421875,
446
+ 0.169708251953125
447
+ ],
448
+ "rotation": [
449
+ 0,
450
+ 0,
451
+ 0
452
+ ]
453
+ },
454
+ "location": [
455
+ 15.1527,
456
+ -467.032,
457
+ 399.161
458
+ ],
459
+ "rotation": [
460
+ 0,
461
+ 0,
462
+ 0
463
+ ],
464
+ "scale": [
465
+ 1,
466
+ 1,
467
+ 1
468
+ ]
469
+ },
470
+ "color": [
471
+ 0,
472
+ 63,
473
+ 0
474
+ ]
475
+ }
476
+ ],
477
+ "wall": [
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Wall_9_1",
480
+ "bbox_2d": [
481
+ 572,
482
+ 256,
483
+ 702,
484
+ 673
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ 86.66842916432347,
490
+ 150.61900000000003,
491
+ 585.7907065429688
492
+ ],
493
+ "extent": [
494
+ 118.70797729492188,
495
+ 225.9097137451172,
496
+ 196.06170654296875
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ 86.66842916432346,
502
+ 150.619,
503
+ 585.7907065429688
504
+ ],
505
+ "extent": [
506
+ 118.70797729492188,
507
+ 225.9097137451172,
508
+ 196.06170654296875
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ 86.66842916432346,
518
+ 150.619,
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
+ 255,
535
+ 0
536
+ ]
537
+ },
538
+ {
539
+ "object_id": "SM_AI_vol12_02_Wall_10_1",
540
+ "bbox_2d": [
541
+ 0,
542
+ 256,
543
+ 572,
544
+ 779
545
+ ],
546
+ "bbox_3d": {
547
+ "aabb": {
548
+ "center": [
549
+ 372.65262916432346,
550
+ -66.28759809265136,
551
+ 585.7906912841797
552
+ ],
553
+ "extent": [
554
+ 180.29879760742188,
555
+ 12.773839950561523,
556
+ 196.0616912841797
557
+ ]
558
+ },
559
+ "obb": {
560
+ "center": [
561
+ 372.65262916432346,
562
+ -66.28759809265136,
563
+ 585.7906912841797
564
+ ],
565
+ "extent": [
566
+ 180.29879760742188,
567
+ 12.773839950561523,
568
+ 196.0616912841797
569
+ ],
570
+ "rotation": [
571
+ 0,
572
+ 0,
573
+ 0
574
+ ]
575
+ },
576
+ "location": [
577
+ 372.65262916432346,
578
+ -66.2876,
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
+ 255
596
+ ]
597
+ },
598
+ {
599
+ "object_id": "SM_AI_vol12_02_Wall_11_1",
600
+ "bbox_2d": [
601
+ 0,
602
+ 446,
603
+ 11,
604
+ 807
605
+ ],
606
+ "bbox_3d": {
607
+ "aabb": {
608
+ "center": [
609
+ 511.1336596819017,
610
+ -218.0759923706055,
611
+ 542.9191550292969
612
+ ],
613
+ "extent": [
614
+ 41.81835937500003,
615
+ 163.89883422851562,
616
+ 153.19015502929688
617
+ ]
618
+ },
619
+ "obb": {
620
+ "center": [
621
+ 511.1336596819017,
622
+ -218.0759923706055,
623
+ 542.9191550292969
624
+ ],
625
+ "extent": [
626
+ 41.81835937500003,
627
+ 163.89883422851562,
628
+ 153.19015502929688
629
+ ],
630
+ "rotation": [
631
+ 0,
632
+ 0,
633
+ 0
634
+ ]
635
+ },
636
+ "location": [
637
+ 511.1336291643235,
638
+ -218.076,
639
+ 389.729
640
+ ],
641
+ "rotation": [
642
+ 0,
643
+ 0,
644
+ 0
645
+ ],
646
+ "scale": [
647
+ 1,
648
+ 1,
649
+ 1
650
+ ]
651
+ },
652
+ "color": [
653
+ 127,
654
+ 0,
655
+ 127
656
+ ]
657
+ },
658
+ {
659
+ "object_id": "SM_AI_vol12_02_Wall_15_1",
660
+ "bbox_2d": [
661
+ 1193,
662
+ 265,
663
+ 1919,
664
+ 734
665
+ ],
666
+ "bbox_3d": {
667
+ "aabb": {
668
+ "center": [
669
+ -614.4759847412109,
670
+ -380.7269847412109,
671
+ 585.79394140625
672
+ ],
673
+ "extent": [
674
+ 162.5470733642578,
675
+ 291.9927978515625,
676
+ 196.06494140625
677
+ ]
678
+ },
679
+ "obb": {
680
+ "center": [
681
+ -614.4759847412109,
682
+ -380.7269847412109,
683
+ 585.79394140625
684
+ ],
685
+ "extent": [
686
+ 162.5470733642578,
687
+ 291.9927978515625,
688
+ 196.06494140625
689
+ ],
690
+ "rotation": [
691
+ 0,
692
+ 0,
693
+ 0
694
+ ]
695
+ },
696
+ "location": [
697
+ -614.476,
698
+ -380.727,
699
+ 389.729
700
+ ],
701
+ "rotation": [
702
+ 0,
703
+ 0,
704
+ 0
705
+ ],
706
+ "scale": [
707
+ 1,
708
+ 1,
709
+ 1
710
+ ]
711
+ },
712
+ "color": [
713
+ 127,
714
+ 127,
715
+ 127
716
+ ]
717
+ },
718
+ {
719
+ "object_id": "SM_AI_vol12_02_Wall_16_1",
720
+ "bbox_2d": [
721
+ 709,
722
+ 451,
723
+ 1192,
724
+ 676
725
+ ],
726
+ "bbox_3d": {
727
+ "aabb": {
728
+ "center": [
729
+ -250.46037083567654,
730
+ 136.49199999999996,
731
+ 583.4498251953125
732
+ ],
733
+ "extent": [
734
+ 221.8224639892578,
735
+ 240.0364990234375,
736
+ 193.7208251953125
737
+ ]
738
+ },
739
+ "obb": {
740
+ "center": [
741
+ -250.46037083567654,
742
+ 136.492,
743
+ 583.4498251953125
744
+ ],
745
+ "extent": [
746
+ 221.8224639892578,
747
+ 240.0364990234375,
748
+ 193.7208251953125
749
+ ],
750
+ "rotation": [
751
+ 0,
752
+ 0,
753
+ 0
754
+ ]
755
+ },
756
+ "location": [
757
+ -250.46037083567654,
758
+ 136.492,
759
+ 389.729
760
+ ],
761
+ "rotation": [
762
+ 0,
763
+ 0,
764
+ 0
765
+ ],
766
+ "scale": [
767
+ 1,
768
+ 1,
769
+ 1
770
+ ]
771
+ },
772
+ "color": [
773
+ 0,
774
+ 0,
775
+ 63
776
+ ]
777
+ }
778
+ ],
779
+ "ceiling windows": [
780
+ {
781
+ "object_id": "SM_AI_vol12_02_Ceiling_Windows_glass_1_1",
782
+ "bbox_2d": [
783
+ 484,
784
+ 0,
785
+ 1282,
786
+ 357
787
+ ],
788
+ "bbox_3d": {
789
+ "aabb": {
790
+ "center": [
791
+ 1.1781617871093886,
792
+ -446.97622119140624,
793
+ 905.9174248046875
794
+ ],
795
+ "extent": [
796
+ 365.17840576171875,
797
+ 325.3132629394531,
798
+ 168.6424560546875
799
+ ]
800
+ },
801
+ "obb": {
802
+ "center": [
803
+ 1.1781617871093886,
804
+ -446.97622119140624,
805
+ 905.9174248046875
806
+ ],
807
+ "extent": [
808
+ 365.17840576171875,
809
+ 325.3132629394531,
810
+ 168.6424560546875
811
+ ],
812
+ "rotation": [
813
+ 0,
814
+ 0,
815
+ 0
816
+ ]
817
+ },
818
+ "location": [
819
+ 0.18808,
820
+ -448.462,
821
+ 732.982
822
+ ],
823
+ "rotation": [
824
+ 0,
825
+ 0,
826
+ 0
827
+ ],
828
+ "scale": [
829
+ 1,
830
+ 1,
831
+ 1
832
+ ]
833
+ },
834
+ "color": [
835
+ 255,
836
+ 255,
837
+ 63
838
+ ]
839
+ },
840
+ {
841
+ "object_id": "SM_AI_vol12_02_Ceiling_Windows_1_1",
842
+ "bbox_2d": [
843
+ 480,
844
+ 0,
845
+ 1283,
846
+ 357
847
+ ],
848
+ "bbox_3d": {
849
+ "aabb": {
850
+ "center": [
851
+ 0.18746964843751357,
852
+ -448.46120654296874,
853
+ 904.6752373046875
854
+ ],
855
+ "extent": [
856
+ 368.99749755859375,
857
+ 328.7353210449219,
858
+ 171.6873779296875
859
+ ]
860
+ },
861
+ "obb": {
862
+ "center": [
863
+ 0.18746964843751357,
864
+ -448.46120654296874,
865
+ 904.6752373046875
866
+ ],
867
+ "extent": [
868
+ 368.99749755859375,
869
+ 328.7353210449219,
870
+ 171.6873779296875
871
+ ],
872
+ "rotation": [
873
+ 0,
874
+ 0,
875
+ 0
876
+ ]
877
+ },
878
+ "location": [
879
+ 0.18808,
880
+ -448.462,
881
+ 732.982
882
+ ],
883
+ "rotation": [
884
+ 0,
885
+ 0,
886
+ 0
887
+ ],
888
+ "scale": [
889
+ 1,
890
+ 1,
891
+ 1
892
+ ]
893
+ },
894
+ "color": [
895
+ 255,
896
+ 127,
897
+ 63
898
+ ]
899
+ }
900
+ ],
901
+ "floor glass": [
902
+ {
903
+ "object_id": "SM_AI_vol12_02_Floor_glass_2_1",
904
+ "bbox_2d": [
905
+ 505,
906
+ 719,
907
+ 1297,
908
+ 927
909
+ ],
910
+ "bbox_3d": {
911
+ "aabb": {
912
+ "center": [
913
+ 12.276647143554683,
914
+ -409.4788231201171,
915
+ 399.4571883544922
916
+ ],
917
+ "extent": [
918
+ 250.27244567871094,
919
+ 216.33436584472653,
920
+ 0.0432586669921875
921
+ ]
922
+ },
923
+ "obb": {
924
+ "center": [
925
+ 12.276647143554698,
926
+ -409.4788231201171,
927
+ 399.4571883544922
928
+ ],
929
+ "extent": [
930
+ 250.27244567871094,
931
+ 216.33436584472653,
932
+ 0.0432586669921875
933
+ ],
934
+ "rotation": [
935
+ 0,
936
+ 0,
937
+ 0
938
+ ]
939
+ },
940
+ "location": [
941
+ 15.1527,
942
+ -467.032,
943
+ 399.161
944
+ ],
945
+ "rotation": [
946
+ 0,
947
+ 0,
948
+ 0
949
+ ],
950
+ "scale": [
951
+ 1,
952
+ 1,
953
+ 1
954
+ ]
955
+ },
956
+ "color": [
957
+ 127,
958
+ 0,
959
+ 63
960
+ ]
961
+ }
962
+ ],
963
+ "ceiling construction": [
964
+ {
965
+ "object_id": "SM_AI_vol12_02_Ceiling_Construction_2_1",
966
+ "bbox_2d": [
967
+ 315,
968
+ 0,
969
+ 1166,
970
+ 379
971
+ ],
972
+ "bbox_3d": {
973
+ "aabb": {
974
+ "center": [
975
+ 1.2842699999999923,
976
+ -446.86699999999996,
977
+ 891.0819011230469
978
+ ],
979
+ "extent": [
980
+ 371.54345703125,
981
+ 332.81573486328125,
982
+ 183.67996215820312
983
+ ]
984
+ },
985
+ "obb": {
986
+ "center": [
987
+ 1.2842699999999923,
988
+ -446.86699999999996,
989
+ 891.0819011230469
990
+ ],
991
+ "extent": [
992
+ 371.54345703125,
993
+ 332.81573486328125,
994
+ 183.67996215820312
995
+ ],
996
+ "rotation": [
997
+ 0,
998
+ 0,
999
+ 0
1000
+ ]
1001
+ },
1002
+ "location": [
1003
+ 1.28427,
1004
+ -446.867,
1005
+ 707.402
1006
+ ],
1007
+ "rotation": [
1008
+ 0,
1009
+ 0,
1010
+ 0
1011
+ ],
1012
+ "scale": [
1013
+ 1,
1014
+ 1,
1015
+ 1
1016
+ ]
1017
+ },
1018
+ "color": [
1019
+ 127,
1020
+ 255,
1021
+ 63
1022
+ ]
1023
+ }
1024
+ ],
1025
+ "stairs": [
1026
+ {
1027
+ "object_id": "SM_AI_vol12_02_Stairs_1_1",
1028
+ "bbox_2d": [
1029
+ 939,
1030
+ 616,
1031
+ 1019,
1032
+ 654
1033
+ ],
1034
+ "bbox_3d": {
1035
+ "aabb": {
1036
+ "center": [
1037
+ -80.33650762939453,
1038
+ 44.849199999999996,
1039
+ 249.99920270996097
1040
+ ],
1041
+ "extent": [
1042
+ 193.55096435546875,
1043
+ 152.25680541992188,
1044
+ 220.00340270996094
1045
+ ]
1046
+ },
1047
+ "obb": {
1048
+ "center": [
1049
+ -80.33650762939453,
1050
+ 44.849199999999996,
1051
+ 249.99920270996094
1052
+ ],
1053
+ "extent": [
1054
+ 193.55096435546875,
1055
+ 152.25680541992188,
1056
+ 220.00340270996094
1057
+ ],
1058
+ "rotation": [
1059
+ 0,
1060
+ 0,
1061
+ 0
1062
+ ]
1063
+ },
1064
+ "location": [
1065
+ -80.3365,
1066
+ 44.8492,
1067
+ 29.9958
1068
+ ],
1069
+ "rotation": [
1070
+ 0,
1071
+ 0,
1072
+ 0
1073
+ ],
1074
+ "scale": [
1075
+ 1,
1076
+ 1,
1077
+ 1
1078
+ ]
1079
+ },
1080
+ "color": [
1081
+ 127,
1082
+ 127,
1083
+ 63
1084
+ ]
1085
+ }
1086
+ ],
1087
+ "window": [
1088
+ {
1089
+ "object_id": "SM_AI_vol12_02_Window_1_1",
1090
+ "bbox_2d": [
1091
+ 707,
1092
+ 541,
1093
+ 713,
1094
+ 658
1095
+ ],
1096
+ "bbox_3d": {
1097
+ "aabb": {
1098
+ "center": [
1099
+ -27.202862857055663,
1100
+ 300.2924813079834,
1101
+ 383.73327246093754
1102
+ ],
1103
+ "extent": [
1104
+ 48.116615295410156,
1105
+ 72.9643325805664,
1106
+ 352.9642333984375
1107
+ ]
1108
+ },
1109
+ "obb": {
1110
+ "center": [
1111
+ -27.202862857055663,
1112
+ 300.2924813079834,
1113
+ 383.7332724609375
1114
+ ],
1115
+ "extent": [
1116
+ 48.116615295410156,
1117
+ 72.9643325805664,
1118
+ 352.9642333984375
1119
+ ],
1120
+ "rotation": [
1121
+ 0,
1122
+ 0,
1123
+ 0
1124
+ ]
1125
+ },
1126
+ "location": [
1127
+ -27.2457,
1128
+ 290.13,
1129
+ 29.729
1130
+ ],
1131
+ "rotation": [
1132
+ 0,
1133
+ 0,
1134
+ 0
1135
+ ],
1136
+ "scale": [
1137
+ 1,
1138
+ 1,
1139
+ 1
1140
+ ]
1141
+ },
1142
+ "color": [
1143
+ 0,
1144
+ 63,
1145
+ 255
1146
+ ]
1147
+ },
1148
+ {
1149
+ "object_id": "SM_AI_vol12_02_Window_3_1",
1150
+ "bbox_2d": [
1151
+ 1,
1152
+ 468,
1153
+ 45,
1154
+ 780
1155
+ ],
1156
+ "bbox_3d": {
1157
+ "aabb": {
1158
+ "center": [
1159
+ 491.6927145996094,
1160
+ -100.73671903076172,
1161
+ 348.7504233398438
1162
+ ],
1163
+ "extent": [
1164
+ 55.44790649414065,
1165
+ 42.235069274902344,
1166
+ 317.89764404296875
1167
+ ]
1168
+ },
1169
+ "obb": {
1170
+ "center": [
1171
+ 491.6927145996094,
1172
+ -100.73671903076172,
1173
+ 348.75042333984373
1174
+ ],
1175
+ "extent": [
1176
+ 55.44790649414065,
1177
+ 42.235069274902344,
1178
+ 317.89764404296875
1179
+ ],
1180
+ "rotation": [
1181
+ 0,
1182
+ 0,
1183
+ 0
1184
+ ]
1185
+ },
1186
+ "location": [
1187
+ 490.104,
1188
+ -99.9769,
1189
+ 29.729
1190
+ ],
1191
+ "rotation": [
1192
+ 0,
1193
+ 0,
1194
+ 0
1195
+ ],
1196
+ "scale": [
1197
+ 1,
1198
+ 1,
1199
+ 1
1200
+ ]
1201
+ },
1202
+ "color": [
1203
+ 255,
1204
+ 63,
1205
+ 0
1206
+ ]
1207
+ }
1208
+ ],
1209
+ "window glass": [
1210
+ {
1211
+ "object_id": "SM_AI_vol12_02_Window_glass_1_1",
1212
+ "bbox_2d": [
1213
+ 701,
1214
+ 541,
1215
+ 711,
1216
+ 658
1217
+ ],
1218
+ "bbox_3d": {
1219
+ "aabb": {
1220
+ "center": [
1221
+ -27.148480532836913,
1222
+ 300.574580078125,
1223
+ 383.29677954101567
1224
+ ],
1225
+ "extent": [
1226
+ 45.95030975341797,
1227
+ 70.68048095703125,
1228
+ 351.5565490722656
1229
+ ]
1230
+ },
1231
+ "obb": {
1232
+ "center": [
1233
+ -27.148480532836913,
1234
+ 300.574580078125,
1235
+ 383.2967795410156
1236
+ ],
1237
+ "extent": [
1238
+ 45.95030975341797,
1239
+ 70.68048095703125,
1240
+ 351.5565490722656
1241
+ ],
1242
+ "rotation": [
1243
+ 0,
1244
+ 0,
1245
+ 0
1246
+ ]
1247
+ },
1248
+ "location": [
1249
+ -27.2457,
1250
+ 290.13,
1251
+ 29.729
1252
+ ],
1253
+ "rotation": [
1254
+ 0,
1255
+ 0,
1256
+ 0
1257
+ ],
1258
+ "scale": [
1259
+ 1,
1260
+ 1,
1261
+ 1
1262
+ ]
1263
+ },
1264
+ "color": [
1265
+ 127,
1266
+ 63,
1267
+ 127
1268
+ ]
1269
+ },
1270
+ {
1271
+ "object_id": "SM_AI_vol12_02_Window_glass_3_1",
1272
+ "bbox_2d": [
1273
+ 4,
1274
+ 539,
1275
+ 38,
1276
+ 786
1277
+ ],
1278
+ "bbox_3d": {
1279
+ "aabb": {
1280
+ "center": [
1281
+ 491.49184790039067,
1282
+ -101.03965939941406,
1283
+ 348.5740317382813
1284
+ ],
1285
+ "extent": [
1286
+ 52.6355895996094,
1287
+ 40.09288024902344,
1288
+ 316.5819091796875
1289
+ ]
1290
+ },
1291
+ "obb": {
1292
+ "center": [
1293
+ 491.49184790039067,
1294
+ -101.03965939941406,
1295
+ 348.57403173828123
1296
+ ],
1297
+ "extent": [
1298
+ 52.6355895996094,
1299
+ 40.09288024902344,
1300
+ 316.5819091796875
1301
+ ],
1302
+ "rotation": [
1303
+ 0,
1304
+ 0,
1305
+ 0
1306
+ ]
1307
+ },
1308
+ "location": [
1309
+ 490.104,
1310
+ -99.9769,
1311
+ 29.729
1312
+ ],
1313
+ "rotation": [
1314
+ 0,
1315
+ 0,
1316
+ 0
1317
+ ],
1318
+ "scale": [
1319
+ 1,
1320
+ 1,
1321
+ 1
1322
+ ]
1323
+ },
1324
+ "color": [
1325
+ 255,
1326
+ 63,
1327
+ 63
1328
+ ]
1329
+ }
1330
+ ],
1331
+ "ceiling box": [
1332
+ {
1333
+ "object_id": "SM_AI_vol12_02_Ceiling_Box_1_1",
1334
+ "bbox_2d": [
1335
+ 552,
1336
+ 0,
1337
+ 1202,
1338
+ 616
1339
+ ],
1340
+ "bbox_3d": {
1341
+ "aabb": {
1342
+ "center": [
1343
+ 2.5983100000000263,
1344
+ -409.323,
1345
+ 760.3711724853515
1346
+ ],
1347
+ "extent": [
1348
+ 260.15771484375,
1349
+ 228.5609130859375,
1350
+ 245.18885803222656
1351
+ ]
1352
+ },
1353
+ "obb": {
1354
+ "center": [
1355
+ 2.5983100000000263,
1356
+ -409.323,
1357
+ 760.3711724853515
1358
+ ],
1359
+ "extent": [
1360
+ 260.15771484375,
1361
+ 228.5609130859375,
1362
+ 245.18885803222656
1363
+ ],
1364
+ "rotation": [
1365
+ 0,
1366
+ 0,
1367
+ 0
1368
+ ]
1369
+ },
1370
+ "location": [
1371
+ 2.59831,
1372
+ -409.323,
1373
+ 1005.56
1374
+ ],
1375
+ "rotation": [
1376
+ 0,
1377
+ 0,
1378
+ 0
1379
+ ],
1380
+ "scale": [
1381
+ 1,
1382
+ 1,
1383
+ 1
1384
+ ]
1385
+ },
1386
+ "color": [
1387
+ 63,
1388
+ 255,
1389
+ 255
1390
+ ]
1391
+ }
1392
+ ]
1393
+ },
1394
+ "foreground": {
1395
+ "long lamp": [
1396
+ {
1397
+ "object_id": "SM_AI_vol12_02_longlamp_1_1",
1398
+ "bbox_2d": [
1399
+ 829,
1400
+ 0,
1401
+ 1561,
1402
+ 268
1403
+ ],
1404
+ "bbox_3d": {
1405
+ "aabb": {
1406
+ "center": [
1407
+ 172.34940584703398,
1408
+ -763.3802747142901,
1409
+ 765.8418885659373
1410
+ ],
1411
+ "extent": [
1412
+ 152.07876551615615,
1413
+ 20.119448477602646,
1414
+ 133.34738159179688
1415
+ ]
1416
+ },
1417
+ "obb": {
1418
+ "center": [
1419
+ 172.34940584703398,
1420
+ -763.3802747142901,
1421
+ 765.8418885659373
1422
+ ],
1423
+ "extent": [
1424
+ 152.07876551615615,
1425
+ 20.119448477602646,
1426
+ 133.34738159179688
1427
+ ],
1428
+ "rotation": [
1429
+ 0,
1430
+ -6.443922772533881,
1431
+ 0
1432
+ ]
1433
+ },
1434
+ "location": [
1435
+ 172.34934326220827,
1436
+ -763.3802170195245,
1437
+ 899.1892701577342
1438
+ ],
1439
+ "rotation": [
1440
+ 0,
1441
+ -6.443922772533881,
1442
+ 0
1443
+ ],
1444
+ "scale": [
1445
+ 1,
1446
+ 1,
1447
+ 1
1448
+ ]
1449
+ },
1450
+ "color": [
1451
+ 63,
1452
+ 127,
1453
+ 0
1454
+ ]
1455
+ }
1456
+ ],
1457
+ "cctv": [
1458
+ {
1459
+ "object_id": "SM_AI_vol12_02_CCTV_1_1",
1460
+ "bbox_2d": [
1461
+ 580,
1462
+ 316,
1463
+ 602,
1464
+ 339
1465
+ ],
1466
+ "bbox_3d": {
1467
+ "aabb": {
1468
+ "center": [
1469
+ 173.15930626421945,
1470
+ -53.50703163020124,
1471
+ 729.9820177673561
1472
+ ],
1473
+ "extent": [
1474
+ 11.017114891263958,
1475
+ 12.077697892467182,
1476
+ 9.826026916503906
1477
+ ]
1478
+ },
1479
+ "obb": {
1480
+ "center": [
1481
+ 173.15930626421945,
1482
+ -53.50703163020124,
1483
+ 729.9820177673561
1484
+ ],
1485
+ "extent": [
1486
+ 11.017114891263958,
1487
+ 12.077697892467182,
1488
+ 9.826026916503906
1489
+ ],
1490
+ "rotation": [
1491
+ -90,
1492
+ 180,
1493
+ -151.8199545253476
1494
+ ]
1495
+ },
1496
+ "location": [
1497
+ 179.5439637726096,
1498
+ -50.086470671758946,
1499
+ 729.9820177673561
1500
+ ],
1501
+ "rotation": [
1502
+ -90,
1503
+ 180,
1504
+ -151.8199545253476
1505
+ ],
1506
+ "scale": [
1507
+ 1,
1508
+ 1,
1509
+ 1
1510
+ ]
1511
+ },
1512
+ "color": [
1513
+ 63,
1514
+ 191,
1515
+ 191
1516
+ ]
1517
+ }
1518
+ ],
1519
+ "extinguisher": [
1520
+ {
1521
+ "object_id": "SM_AI_vol12_02_Extinguisher_1_1",
1522
+ "bbox_2d": [
1523
+ 595,
1524
+ 668,
1525
+ 599,
1526
+ 669
1527
+ ],
1528
+ "bbox_3d": {
1529
+ "aabb": {
1530
+ "center": [
1531
+ 153.63098881043288,
1532
+ -43.22538806211874,
1533
+ 421.40474051828005
1534
+ ],
1535
+ "extent": [
1536
+ 21.287885934933513,
1537
+ 16.26477284334358,
1538
+ 21.987218856811523
1539
+ ]
1540
+ },
1541
+ "obb": {
1542
+ "center": [
1543
+ 153.63098881043288,
1544
+ -43.22538806211874,
1545
+ 421.40474051828005
1546
+ ],
1547
+ "extent": [
1548
+ 21.287885934933513,
1549
+ 16.26477284334358,
1550
+ 21.987218856811523
1551
+ ],
1552
+ "rotation": [
1553
+ 0,
1554
+ 111.8972898558426,
1555
+ 0
1556
+ ]
1557
+ },
1558
+ "location": [
1559
+ 162.58242705481797,
1560
+ -50.307300947892294,
1561
+ 413.97719306344607
1562
+ ],
1563
+ "rotation": [
1564
+ 0,
1565
+ 111.8972898558426,
1566
+ 0
1567
+ ],
1568
+ "scale": [
1569
+ 1,
1570
+ 1,
1571
+ 1
1572
+ ]
1573
+ },
1574
+ "color": [
1575
+ 191,
1576
+ 0,
1577
+ 0
1578
+ ]
1579
+ }
1580
+ ],
1581
+ "image": [
1582
+ {
1583
+ "object_id": "SM_AI_vol12_02_Image_4_1",
1584
+ "bbox_2d": [
1585
+ 1406,
1586
+ 466,
1587
+ 1769,
1588
+ 659
1589
+ ],
1590
+ "bbox_3d": {
1591
+ "aabb": {
1592
+ "center": [
1593
+ -615.0359013166261,
1594
+ -421.9608461045612,
1595
+ 532.6706221044617
1596
+ ],
1597
+ "extent": [
1598
+ 70.22006222017069,
1599
+ 125.41638675898008,
1600
+ 81.6753834958937
1601
+ ]
1602
+ },
1603
+ "obb": {
1604
+ "center": [
1605
+ -615.0359013166261,
1606
+ -421.9608461045612,
1607
+ 532.6706221044617
1608
+ ],
1609
+ "extent": [
1610
+ 70.22006222017069,
1611
+ 125.41638675898008,
1612
+ 81.6753834958937
1613
+ ],
1614
+ "rotation": [
1615
+ 0.40646707108773616,
1616
+ -117.45512792778507,
1617
+ 1.2406460066726135
1618
+ ]
1619
+ },
1620
+ "location": [
1621
+ -611.4749902989585,
1622
+ -423.81174101438467,
1623
+ 532.583711432499
1624
+ ],
1625
+ "rotation": [
1626
+ 0.40646707108773616,
1627
+ -117.45512792778507,
1628
+ 1.2406460066726135
1629
+ ],
1630
+ "scale": [
1631
+ 1.1678799390792847,
1632
+ 1.1678799390792847,
1633
+ 1.1678799390792847
1634
+ ]
1635
+ },
1636
+ "color": [
1637
+ 191,
1638
+ 63,
1639
+ 255
1640
+ ]
1641
+ }
1642
+ ]
1643
+ }
1644
+ }
scenes/annotations/AIUE5_vol12_02/l047_off1_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,728 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l047_off1_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l047_off1_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -155,
8
+ -227,
9
+ 523
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
+ -155,
38
+ -227,
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
+ 1662,
58
+ 0,
59
+ 1919,
60
+ 123
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
+ 559,
118
+ 0,
119
+ 1732,
120
+ 177
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
+ 177,
178
+ 0,
179
+ 585,
180
+ 178
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
+ 69,
240
+ 742,
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
+ 835,
300
+ 1077,
301
+ 843,
302
+ 1079
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_14_1",
360
+ "bbox_2d": [
361
+ 1658,
362
+ 22,
363
+ 1919,
364
+ 789
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ -424.933,
370
+ -799.094,
371
+ 585.79394140625
372
+ ],
373
+ "extent": [
374
+ 352.08929443359375,
375
+ 136.33853149414062,
376
+ 196.06494140625
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ -424.933,
382
+ -799.094,
383
+ 585.79394140625
384
+ ],
385
+ "extent": [
386
+ 352.08929443359375,
387
+ 136.33853149414062,
388
+ 196.06494140625
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ -424.933,
398
+ -799.094,
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
+ 255
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_15_1",
420
+ "bbox_2d": [
421
+ 560,
422
+ 125,
423
+ 1661,
424
+ 938
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ -614.4759847412109,
430
+ -380.7269847412109,
431
+ 585.79394140625
432
+ ],
433
+ "extent": [
434
+ 162.5470733642578,
435
+ 291.9927978515625,
436
+ 196.06494140625
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ -614.4759847412109,
442
+ -380.7269847412109,
443
+ 585.79394140625
444
+ ],
445
+ "extent": [
446
+ 162.5470733642578,
447
+ 291.9927978515625,
448
+ 196.06494140625
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ -614.476,
458
+ -380.727,
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
+ 127
476
+ ]
477
+ },
478
+ {
479
+ "object_id": "SM_AI_vol12_02_Wall_16_1",
480
+ "bbox_2d": [
481
+ 0,
482
+ 0,
483
+ 560,
484
+ 1079
485
+ ],
486
+ "bbox_3d": {
487
+ "aabb": {
488
+ "center": [
489
+ -250.46037083567654,
490
+ 136.49199999999996,
491
+ 583.4498251953125
492
+ ],
493
+ "extent": [
494
+ 221.8224639892578,
495
+ 240.0364990234375,
496
+ 193.7208251953125
497
+ ]
498
+ },
499
+ "obb": {
500
+ "center": [
501
+ -250.46037083567654,
502
+ 136.492,
503
+ 583.4498251953125
504
+ ],
505
+ "extent": [
506
+ 221.8224639892578,
507
+ 240.0364990234375,
508
+ 193.7208251953125
509
+ ],
510
+ "rotation": [
511
+ 0,
512
+ 0,
513
+ 0
514
+ ]
515
+ },
516
+ "location": [
517
+ -250.46037083567654,
518
+ 136.492,
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
+ 0,
534
+ 0,
535
+ 63
536
+ ]
537
+ }
538
+ ],
539
+ "window": [
540
+ {
541
+ "object_id": "SM_AI_vol12_02_Window_6_1",
542
+ "bbox_2d": [
543
+ 1652,
544
+ 275,
545
+ 1693,
546
+ 746
547
+ ],
548
+ "bbox_3d": {
549
+ "aabb": {
550
+ "center": [
551
+ -713.3179209289551,
552
+ -628.0548697814942,
553
+ 386.14321508789067
554
+ ],
555
+ "extent": [
556
+ 61.848880767822266,
557
+ 55.13796615600586,
558
+ 355.4439392089844
559
+ ]
560
+ },
561
+ "obb": {
562
+ "center": [
563
+ -713.3179209289551,
564
+ -628.0548697814942,
565
+ 386.1432150878906
566
+ ],
567
+ "extent": [
568
+ 61.848880767822266,
569
+ 55.13796615600586,
570
+ 355.4439392089844
571
+ ],
572
+ "rotation": [
573
+ 0,
574
+ 0,
575
+ 0
576
+ ]
577
+ },
578
+ "location": [
579
+ -713.306,
580
+ -628.186,
581
+ 29.729
582
+ ],
583
+ "rotation": [
584
+ 0,
585
+ 0,
586
+ 0
587
+ ],
588
+ "scale": [
589
+ 1,
590
+ 1,
591
+ 1
592
+ ]
593
+ },
594
+ "color": [
595
+ 127,
596
+ 63,
597
+ 0
598
+ ]
599
+ }
600
+ ],
601
+ "window glass": [
602
+ {
603
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
604
+ "bbox_2d": [
605
+ 1652,
606
+ 296,
607
+ 1692,
608
+ 738
609
+ ],
610
+ "bbox_3d": {
611
+ "aabb": {
612
+ "center": [
613
+ -713.5362570343018,
614
+ -627.9010802612305,
615
+ 386.2503317871094
616
+ ],
617
+ "extent": [
618
+ 60.059295654296875,
619
+ 52.93374252319336,
620
+ 353.8716735839844
621
+ ]
622
+ },
623
+ "obb": {
624
+ "center": [
625
+ -713.5362570343018,
626
+ -627.9010802612305,
627
+ 386.25033178710936
628
+ ],
629
+ "extent": [
630
+ 60.059295654296875,
631
+ 52.93374252319336,
632
+ 353.8716735839844
633
+ ],
634
+ "rotation": [
635
+ 0,
636
+ 0,
637
+ 0
638
+ ]
639
+ },
640
+ "location": [
641
+ -713.306,
642
+ -628.186,
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
+ 63,
658
+ 0,
659
+ 255
660
+ ]
661
+ }
662
+ ]
663
+ },
664
+ "foreground": {
665
+ "image": [
666
+ {
667
+ "object_id": "SM_AI_vol12_02_Image_4_1",
668
+ "bbox_2d": [
669
+ 1138,
670
+ 321,
671
+ 1553,
672
+ 715
673
+ ],
674
+ "bbox_3d": {
675
+ "aabb": {
676
+ "center": [
677
+ -615.0359013166261,
678
+ -421.9608461045612,
679
+ 532.6706221044617
680
+ ],
681
+ "extent": [
682
+ 70.22006222017069,
683
+ 125.41638675898008,
684
+ 81.6753834958937
685
+ ]
686
+ },
687
+ "obb": {
688
+ "center": [
689
+ -615.0359013166261,
690
+ -421.9608461045612,
691
+ 532.6706221044617
692
+ ],
693
+ "extent": [
694
+ 70.22006222017069,
695
+ 125.41638675898008,
696
+ 81.6753834958937
697
+ ],
698
+ "rotation": [
699
+ 0.40646707108773616,
700
+ -117.45512792778507,
701
+ 1.2406460066726135
702
+ ]
703
+ },
704
+ "location": [
705
+ -611.4749902989585,
706
+ -423.81174101438467,
707
+ 532.583711432499
708
+ ],
709
+ "rotation": [
710
+ 0.40646707108773616,
711
+ -117.45512792778507,
712
+ 1.2406460066726135
713
+ ],
714
+ "scale": [
715
+ 1.1678799390792847,
716
+ 1.1678799390792847,
717
+ 1.1678799390792847
718
+ ]
719
+ },
720
+ "color": [
721
+ 191,
722
+ 63,
723
+ 255
724
+ ]
725
+ }
726
+ ]
727
+ }
728
+ }
scenes/annotations/AIUE5_vol12_02/l054_off1_r001/scene_annotations_split.json ADDED
@@ -0,0 +1,974 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l054_off1_r001",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l054_off1_r001/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -120,
8
+ -509,
9
+ 523
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
+ -120,
38
+ -509,
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_8_1",
56
+ "bbox_2d": [
57
+ 1590,
58
+ 0,
59
+ 1919,
60
+ 214
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ -220.91700762939456,
66
+ 107.85474865722655,
67
+ 805.9363876953125
68
+ ],
69
+ "extent": [
70
+ 251.57647705078125,
71
+ 268.6739501953125,
72
+ 171.050048828125
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ -220.91700762939456,
78
+ 107.85474865722657,
79
+ 805.9363876953125
80
+ ],
81
+ "extent": [
82
+ 251.57647705078125,
83
+ 268.6739501953125,
84
+ 171.050048828125
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ -220.917,
94
+ 108.078,
95
+ 634.989
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
+ 127
112
+ ]
113
+ }
114
+ ],
115
+ "floor": [
116
+ {
117
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
118
+ "bbox_2d": [
119
+ 0,
120
+ 691,
121
+ 1919,
122
+ 1010
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ -109.43883007812497,
128
+ -305.40692504882804,
129
+ 381.5008540039062
130
+ ],
131
+ "extent": [
132
+ 632.2734375,
133
+ 649.2933349609375,
134
+ 17.98785400390625
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ -109.43883007812497,
140
+ -305.40692504882804,
141
+ 381.5008540039062
142
+ ],
143
+ "extent": [
144
+ 632.2734375,
145
+ 649.2933349609375,
146
+ 17.98785400390625
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ -107.713,
156
+ -305.84,
157
+ 363.513
158
+ ],
159
+ "rotation": [
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "scale": [
165
+ 1,
166
+ 1,
167
+ 1
168
+ ]
169
+ },
170
+ "color": [
171
+ 255,
172
+ 255,
173
+ 127
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Floor_2_1",
178
+ "bbox_2d": [
179
+ 0,
180
+ 785,
181
+ 1919,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 15.152699999999982,
188
+ -467.03198474121086,
189
+ 399.3307082519531
190
+ ],
191
+ "extent": [
192
+ 390.8625183105469,
193
+ 373.12469482421875,
194
+ 0.169708251953125
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 15.152699999999982,
200
+ -467.03198474121086,
201
+ 399.3307082519531
202
+ ],
203
+ "extent": [
204
+ 390.8625183105469,
205
+ 373.12469482421875,
206
+ 0.169708251953125
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 15.1527,
216
+ -467.032,
217
+ 399.161
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
+ 63,
233
+ 0
234
+ ]
235
+ }
236
+ ],
237
+ "wall": [
238
+ {
239
+ "object_id": "SM_AI_vol12_02_Wall_9_1",
240
+ "bbox_2d": [
241
+ 863,
242
+ 259,
243
+ 1389,
244
+ 713
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ 86.66842916432347,
250
+ 150.61900000000003,
251
+ 585.7907065429688
252
+ ],
253
+ "extent": [
254
+ 118.70797729492188,
255
+ 225.9097137451172,
256
+ 196.06170654296875
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ 86.66842916432346,
262
+ 150.619,
263
+ 585.7907065429688
264
+ ],
265
+ "extent": [
266
+ 118.70797729492188,
267
+ 225.9097137451172,
268
+ 196.06170654296875
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ 86.66842916432346,
278
+ 150.619,
279
+ 389.729
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
+ 255,
295
+ 0
296
+ ]
297
+ },
298
+ {
299
+ "object_id": "SM_AI_vol12_02_Wall_10_1",
300
+ "bbox_2d": [
301
+ 493,
302
+ 343,
303
+ 862,
304
+ 757
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 372.65262916432346,
310
+ -66.28759809265136,
311
+ 585.7906912841797
312
+ ],
313
+ "extent": [
314
+ 180.29879760742188,
315
+ 12.773839950561523,
316
+ 196.0616912841797
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 372.65262916432346,
322
+ -66.28759809265136,
323
+ 585.7906912841797
324
+ ],
325
+ "extent": [
326
+ 180.29879760742188,
327
+ 12.773839950561523,
328
+ 196.0616912841797
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 372.65262916432346,
338
+ -66.2876,
339
+ 389.729
340
+ ],
341
+ "rotation": [
342
+ 0,
343
+ 0,
344
+ 0
345
+ ],
346
+ "scale": [
347
+ 1,
348
+ 1,
349
+ 1
350
+ ]
351
+ },
352
+ "color": [
353
+ 127,
354
+ 255,
355
+ 255
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_AI_vol12_02_Wall_11_1",
360
+ "bbox_2d": [
361
+ 0,
362
+ 403,
363
+ 485,
364
+ 811
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 511.1336596819017,
370
+ -218.0759923706055,
371
+ 542.9191550292969
372
+ ],
373
+ "extent": [
374
+ 41.81835937500003,
375
+ 163.89883422851562,
376
+ 153.19015502929688
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 511.1336596819017,
382
+ -218.0759923706055,
383
+ 542.9191550292969
384
+ ],
385
+ "extent": [
386
+ 41.81835937500003,
387
+ 163.89883422851562,
388
+ 153.19015502929688
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 511.1336291643235,
398
+ -218.076,
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
+ 0,
415
+ 127
416
+ ]
417
+ },
418
+ {
419
+ "object_id": "SM_AI_vol12_02_Wall_16_1",
420
+ "bbox_2d": [
421
+ 1390,
422
+ 171,
423
+ 1919,
424
+ 814
425
+ ],
426
+ "bbox_3d": {
427
+ "aabb": {
428
+ "center": [
429
+ -250.46037083567654,
430
+ 136.49199999999996,
431
+ 583.4498251953125
432
+ ],
433
+ "extent": [
434
+ 221.8224639892578,
435
+ 240.0364990234375,
436
+ 193.7208251953125
437
+ ]
438
+ },
439
+ "obb": {
440
+ "center": [
441
+ -250.46037083567654,
442
+ 136.492,
443
+ 583.4498251953125
444
+ ],
445
+ "extent": [
446
+ 221.8224639892578,
447
+ 240.0364990234375,
448
+ 193.7208251953125
449
+ ],
450
+ "rotation": [
451
+ 0,
452
+ 0,
453
+ 0
454
+ ]
455
+ },
456
+ "location": [
457
+ -250.46037083567654,
458
+ 136.492,
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
+ 0,
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
+ 0,
484
+ 843,
485
+ 1605,
486
+ 1079
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
+ 1627,
546
+ 680,
547
+ 1919,
548
+ 916
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
+ 1385,
608
+ 288,
609
+ 1391,
610
+ 356
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_3_1",
666
+ "bbox_2d": [
667
+ 483,
668
+ 402,
669
+ 488,
670
+ 493
671
+ ],
672
+ "bbox_3d": {
673
+ "aabb": {
674
+ "center": [
675
+ 491.6927145996094,
676
+ -100.73671903076172,
677
+ 348.7504233398438
678
+ ],
679
+ "extent": [
680
+ 55.44790649414065,
681
+ 42.235069274902344,
682
+ 317.89764404296875
683
+ ]
684
+ },
685
+ "obb": {
686
+ "center": [
687
+ 491.6927145996094,
688
+ -100.73671903076172,
689
+ 348.75042333984373
690
+ ],
691
+ "extent": [
692
+ 55.44790649414065,
693
+ 42.235069274902344,
694
+ 317.89764404296875
695
+ ],
696
+ "rotation": [
697
+ 0,
698
+ 0,
699
+ 0
700
+ ]
701
+ },
702
+ "location": [
703
+ 490.104,
704
+ -99.9769,
705
+ 29.729
706
+ ],
707
+ "rotation": [
708
+ 0,
709
+ 0,
710
+ 0
711
+ ],
712
+ "scale": [
713
+ 1,
714
+ 1,
715
+ 1
716
+ ]
717
+ },
718
+ "color": [
719
+ 255,
720
+ 63,
721
+ 0
722
+ ]
723
+ }
724
+ ],
725
+ "window glass": [
726
+ {
727
+ "object_id": "SM_AI_vol12_02_Window_glass_1_1",
728
+ "bbox_2d": [
729
+ 1370,
730
+ 289,
731
+ 1394,
732
+ 693
733
+ ],
734
+ "bbox_3d": {
735
+ "aabb": {
736
+ "center": [
737
+ -27.148480532836913,
738
+ 300.574580078125,
739
+ 383.29677954101567
740
+ ],
741
+ "extent": [
742
+ 45.95030975341797,
743
+ 70.68048095703125,
744
+ 351.5565490722656
745
+ ]
746
+ },
747
+ "obb": {
748
+ "center": [
749
+ -27.148480532836913,
750
+ 300.574580078125,
751
+ 383.2967795410156
752
+ ],
753
+ "extent": [
754
+ 45.95030975341797,
755
+ 70.68048095703125,
756
+ 351.5565490722656
757
+ ],
758
+ "rotation": [
759
+ 0,
760
+ 0,
761
+ 0
762
+ ]
763
+ },
764
+ "location": [
765
+ -27.2457,
766
+ 290.13,
767
+ 29.729
768
+ ],
769
+ "rotation": [
770
+ 0,
771
+ 0,
772
+ 0
773
+ ],
774
+ "scale": [
775
+ 1,
776
+ 1,
777
+ 1
778
+ ]
779
+ },
780
+ "color": [
781
+ 127,
782
+ 63,
783
+ 127
784
+ ]
785
+ },
786
+ {
787
+ "object_id": "SM_AI_vol12_02_Window_glass_3_1",
788
+ "bbox_2d": [
789
+ 477,
790
+ 402,
791
+ 507,
792
+ 713
793
+ ],
794
+ "bbox_3d": {
795
+ "aabb": {
796
+ "center": [
797
+ 491.49184790039067,
798
+ -101.03965939941406,
799
+ 348.5740317382813
800
+ ],
801
+ "extent": [
802
+ 52.6355895996094,
803
+ 40.09288024902344,
804
+ 316.5819091796875
805
+ ]
806
+ },
807
+ "obb": {
808
+ "center": [
809
+ 491.49184790039067,
810
+ -101.03965939941406,
811
+ 348.57403173828123
812
+ ],
813
+ "extent": [
814
+ 52.6355895996094,
815
+ 40.09288024902344,
816
+ 316.5819091796875
817
+ ],
818
+ "rotation": [
819
+ 0,
820
+ 0,
821
+ 0
822
+ ]
823
+ },
824
+ "location": [
825
+ 490.104,
826
+ -99.9769,
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
+ 255,
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
+ 1737,
854
+ 479
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
+ "extinguisher": [
912
+ {
913
+ "object_id": "SM_AI_vol12_02_Extinguisher_1_1",
914
+ "bbox_2d": [
915
+ 934,
916
+ 678,
917
+ 943,
918
+ 682
919
+ ],
920
+ "bbox_3d": {
921
+ "aabb": {
922
+ "center": [
923
+ 153.63098881043288,
924
+ -43.22538806211874,
925
+ 421.40474051828005
926
+ ],
927
+ "extent": [
928
+ 21.287885934933513,
929
+ 16.26477284334358,
930
+ 21.987218856811523
931
+ ]
932
+ },
933
+ "obb": {
934
+ "center": [
935
+ 153.63098881043288,
936
+ -43.22538806211874,
937
+ 421.40474051828005
938
+ ],
939
+ "extent": [
940
+ 21.287885934933513,
941
+ 16.26477284334358,
942
+ 21.987218856811523
943
+ ],
944
+ "rotation": [
945
+ 0,
946
+ 111.8972898558426,
947
+ 0
948
+ ]
949
+ },
950
+ "location": [
951
+ 162.58242705481797,
952
+ -50.307300947892294,
953
+ 413.97719306344607
954
+ ],
955
+ "rotation": [
956
+ 0,
957
+ 111.8972898558426,
958
+ 0
959
+ ],
960
+ "scale": [
961
+ 1,
962
+ 1,
963
+ 1
964
+ ]
965
+ },
966
+ "color": [
967
+ 191,
968
+ 0,
969
+ 0
970
+ ]
971
+ }
972
+ ]
973
+ }
974
+ }
scenes/annotations/AIUE5_vol12_02/l058_off2_r004/scene_annotations_split.json ADDED
@@ -0,0 +1,608 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "AIUE5_vol12_02",
3
+ "view_id": "l058_off2_r004",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/additional/AIUE5_vol12_02/l058_off2_r004/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -460,
8
+ -259,
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
+ -460,
38
+ -259,
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
+ 862,
58
+ 0,
59
+ 1919,
60
+ 97
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
+ 802,
118
+ 0,
119
+ 953,
120
+ 97
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
+ "floor": [
176
+ {
177
+ "object_id": "SM_AI_vol12_02_Floor_1_1",
178
+ "bbox_2d": [
179
+ 774,
180
+ 842,
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
+ "wall": [
238
+ {
239
+ "object_id": "SM_AI_vol12_02_Wall_14_1",
240
+ "bbox_2d": [
241
+ 860,
242
+ 10,
243
+ 1919,
244
+ 897
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ -424.933,
250
+ -799.094,
251
+ 585.79394140625
252
+ ],
253
+ "extent": [
254
+ 352.08929443359375,
255
+ 136.33853149414062,
256
+ 196.06494140625
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ -424.933,
262
+ -799.094,
263
+ 585.79394140625
264
+ ],
265
+ "extent": [
266
+ 352.08929443359375,
267
+ 136.33853149414062,
268
+ 196.06494140625
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ -424.933,
278
+ -799.094,
279
+ 389.729
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
+ 127,
295
+ 255
296
+ ]
297
+ },
298
+ {
299
+ "object_id": "SM_AI_vol12_02_Wall_15_1",
300
+ "bbox_2d": [
301
+ 0,
302
+ 0,
303
+ 868,
304
+ 1079
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ -614.4759847412109,
310
+ -380.7269847412109,
311
+ 585.79394140625
312
+ ],
313
+ "extent": [
314
+ 162.5470733642578,
315
+ 291.9927978515625,
316
+ 196.06494140625
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ -614.4759847412109,
322
+ -380.7269847412109,
323
+ 585.79394140625
324
+ ],
325
+ "extent": [
326
+ 162.5470733642578,
327
+ 291.9927978515625,
328
+ 196.06494140625
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ -614.476,
338
+ -380.727,
339
+ 389.729
340
+ ],
341
+ "rotation": [
342
+ 0,
343
+ 0,
344
+ 0
345
+ ],
346
+ "scale": [
347
+ 1,
348
+ 1,
349
+ 1
350
+ ]
351
+ },
352
+ "color": [
353
+ 127,
354
+ 127,
355
+ 127
356
+ ]
357
+ }
358
+ ],
359
+ "window": [
360
+ {
361
+ "object_id": "SM_AI_vol12_02_Window_6_1",
362
+ "bbox_2d": [
363
+ 865,
364
+ 497,
365
+ 892,
366
+ 851
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ -713.3179209289551,
372
+ -628.0548697814942,
373
+ 386.14321508789067
374
+ ],
375
+ "extent": [
376
+ 61.848880767822266,
377
+ 55.13796615600586,
378
+ 355.4439392089844
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ -713.3179209289551,
384
+ -628.0548697814942,
385
+ 386.1432150878906
386
+ ],
387
+ "extent": [
388
+ 61.848880767822266,
389
+ 55.13796615600586,
390
+ 355.4439392089844
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ -713.306,
400
+ -628.186,
401
+ 29.729
402
+ ],
403
+ "rotation": [
404
+ 0,
405
+ 0,
406
+ 0
407
+ ],
408
+ "scale": [
409
+ 1,
410
+ 1,
411
+ 1
412
+ ]
413
+ },
414
+ "color": [
415
+ 127,
416
+ 63,
417
+ 0
418
+ ]
419
+ }
420
+ ],
421
+ "window glass": [
422
+ {
423
+ "object_id": "SM_AI_vol12_02_Window_glass_6_1",
424
+ "bbox_2d": [
425
+ 865,
426
+ 539,
427
+ 885,
428
+ 833
429
+ ],
430
+ "bbox_3d": {
431
+ "aabb": {
432
+ "center": [
433
+ -713.5362570343018,
434
+ -627.9010802612305,
435
+ 386.2503317871094
436
+ ],
437
+ "extent": [
438
+ 60.059295654296875,
439
+ 52.93374252319336,
440
+ 353.8716735839844
441
+ ]
442
+ },
443
+ "obb": {
444
+ "center": [
445
+ -713.5362570343018,
446
+ -627.9010802612305,
447
+ 386.25033178710936
448
+ ],
449
+ "extent": [
450
+ 60.059295654296875,
451
+ 52.93374252319336,
452
+ 353.8716735839844
453
+ ],
454
+ "rotation": [
455
+ 0,
456
+ 0,
457
+ 0
458
+ ]
459
+ },
460
+ "location": [
461
+ -713.306,
462
+ -628.186,
463
+ 29.729
464
+ ],
465
+ "rotation": [
466
+ 0,
467
+ 0,
468
+ 0
469
+ ],
470
+ "scale": [
471
+ 1,
472
+ 1,
473
+ 1
474
+ ]
475
+ },
476
+ "color": [
477
+ 63,
478
+ 0,
479
+ 255
480
+ ]
481
+ }
482
+ ]
483
+ },
484
+ "foreground": {
485
+ "image": [
486
+ {
487
+ "object_id": "SM_AI_vol12_02_Image_1_1",
488
+ "bbox_2d": [
489
+ 1291,
490
+ 348,
491
+ 1919,
492
+ 768
493
+ ],
494
+ "bbox_3d": {
495
+ "aabb": {
496
+ "center": [
497
+ -384.71616552117706,
498
+ -789.422156409466,
499
+ 545.0371241461015
500
+ ],
501
+ "extent": [
502
+ 168.92144315253228,
503
+ 70.1407321337856,
504
+ 88.80811647147846
505
+ ]
506
+ },
507
+ "obb": {
508
+ "center": [
509
+ -384.71616552117706,
510
+ -789.422156409466,
511
+ 545.0371241461015
512
+ ],
513
+ "extent": [
514
+ 168.92144315253228,
515
+ 70.1407321337856,
516
+ 88.80811647147846
517
+ ],
518
+ "rotation": [
519
+ 0.007890922360343958,
520
+ -20.58249103964926,
521
+ 1.3072029230361613
522
+ ]
523
+ },
524
+ "location": [
525
+ -383.3633926958175,
526
+ -785.8251142028387,
527
+ 544.9494309980133
528
+ ],
529
+ "rotation": [
530
+ 0.007890922360343958,
531
+ -20.58249103964926,
532
+ 1.3072029230361613
533
+ ],
534
+ "scale": [
535
+ 1.1821715831756592,
536
+ 1.1821715831756592,
537
+ 1.1821715831756592
538
+ ]
539
+ },
540
+ "color": [
541
+ 191,
542
+ 127,
543
+ 127
544
+ ]
545
+ },
546
+ {
547
+ "object_id": "SM_AI_vol12_02_Image_4_1",
548
+ "bbox_2d": [
549
+ 287,
550
+ 0,
551
+ 851,
552
+ 1079
553
+ ],
554
+ "bbox_3d": {
555
+ "aabb": {
556
+ "center": [
557
+ -615.0359013166261,
558
+ -421.9608461045612,
559
+ 532.6706221044617
560
+ ],
561
+ "extent": [
562
+ 70.22006222017069,
563
+ 125.41638675898008,
564
+ 81.6753834958937
565
+ ]
566
+ },
567
+ "obb": {
568
+ "center": [
569
+ -615.0359013166261,
570
+ -421.9608461045612,
571
+ 532.6706221044617
572
+ ],
573
+ "extent": [
574
+ 70.22006222017069,
575
+ 125.41638675898008,
576
+ 81.6753834958937
577
+ ],
578
+ "rotation": [
579
+ 0.40646707108773616,
580
+ -117.45512792778507,
581
+ 1.2406460066726135
582
+ ]
583
+ },
584
+ "location": [
585
+ -611.4749902989585,
586
+ -423.81174101438467,
587
+ 532.583711432499
588
+ ],
589
+ "rotation": [
590
+ 0.40646707108773616,
591
+ -117.45512792778507,
592
+ 1.2406460066726135
593
+ ],
594
+ "scale": [
595
+ 1.1678799390792847,
596
+ 1.1678799390792847,
597
+ 1.1678799390792847
598
+ ]
599
+ },
600
+ "color": [
601
+ 191,
602
+ 63,
603
+ 255
604
+ ]
605
+ }
606
+ ]
607
+ }
608
+ }