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
88cb74f
·
verified ·
1 Parent(s): c4e0157

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. scenes/annotations/HotelRoomVol1/l000_r001/scene_annotations_split.json +976 -0
  2. scenes/annotations/HotelRoomVol1/l002_r004/scene_annotations_split.json +1530 -0
  3. scenes/annotations/HotelRoomVol1/l005_r005/scene_annotations_split.json +794 -0
  4. scenes/annotations/HotelRoomVol1/l007_r000/scene_annotations_split.json +1464 -0
  5. scenes/annotations/HotelRoomVol1/l009_r002/scene_annotations_split.json +2080 -0
  6. scenes/annotations/HotelRoomVol1/l016_r003/scene_annotations_split.json +1532 -0
  7. scenes/annotations/HotelRoomVol1/l020_r002/scene_annotations_split.json +860 -0
  8. scenes/annotations/HotelRoomVol1/l029_r001/scene_annotations_split.json +672 -0
  9. scenes/annotations/HotelRoomVol1/l031_r001/scene_annotations_split.json +1588 -0
  10. scenes/annotations/HotelRoomVol1/l036_r000/scene_annotations_split.json +1034 -0
  11. scenes/annotations/HotelRoomVol1/l042_r002/scene_annotations_split.json +978 -0
  12. scenes/annotations/HotelRoomVol1/l056_r005/scene_annotations_split.json +1038 -0
  13. scenes/annotations/HotelRoomVol1/l060_r004/scene_annotations_split.json +1224 -0
  14. scenes/annotations/HotelRoomVol1/l062_r001/scene_annotations_split.json +974 -0
  15. scenes/annotations/HotelRoomVol1/l067_r005/scene_annotations_split.json +1346 -0
  16. scenes/annotations/HotelRoomVol1/l074_r003/scene_annotations_split.json +920 -0
  17. scenes/annotations/HotelRoomVol1/l078_r004/scene_annotations_split.json +854 -0
  18. scenes/annotations/HotelRoomVol1/l082_r002/scene_annotations_split.json +1410 -0
  19. scenes/annotations/HotelRoomVol1/l085_r003/scene_annotations_split.json +794 -0
  20. scenes/annotations/HotelRoomVol1/l089_r004/scene_annotations_split.json +794 -0
scenes/annotations/HotelRoomVol1/l000_r001/scene_annotations_split.json ADDED
@@ -0,0 +1,976 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l000_r001",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l000_r001/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 89,
8
+ -73,
9
+ 119
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
+ 89,
38
+ -73,
39
+ 119,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 953,
58
+ 0,
59
+ 1666,
60
+ 212
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "background wall": [
116
+ {
117
+ "object_id": "SM_BackgroundwallC",
118
+ "bbox_2d": [
119
+ 0,
120
+ 0,
121
+ 1568,
122
+ 830
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 138.97036743164062,
128
+ -39.36470031738281,
129
+ 127.49999237060547
130
+ ],
131
+ "extent": [
132
+ 61.02964782714844,
133
+ 233.93521118164062,
134
+ 112.5
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 138.97036743164062,
140
+ -39.36470031738281,
141
+ 127.49999237060547
142
+ ],
143
+ "extent": [
144
+ 61.02964782714844,
145
+ 233.93521118164062,
146
+ 112.5
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 200,
156
+ -39.36470031738281,
157
+ 15
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
+ 127,
173
+ 255
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_BackgroundwallA",
178
+ "bbox_2d": [
179
+ 0,
180
+ 570,
181
+ 1115,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 194.8563780784607,
188
+ -40.36479949951172,
189
+ 62.49999237060547
190
+ ],
191
+ "extent": [
192
+ 5.143621921539307,
193
+ 232.9352569580078,
194
+ 47.5
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 194.8563780784607,
200
+ -40.36479949951172,
201
+ 62.49999237060547
202
+ ],
203
+ "extent": [
204
+ 5.143621921539307,
205
+ 232.9352569580078,
206
+ 47.5
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 200,
216
+ -40.36479949951172,
217
+ 15
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
+ 63,
233
+ 255
234
+ ]
235
+ }
236
+ ],
237
+ "partition": [
238
+ {
239
+ "object_id": "SM_PartitionA",
240
+ "bbox_2d": [
241
+ 1643,
242
+ 0,
243
+ 1919,
244
+ 886
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ 22.016599655151367,
250
+ 193.6980038881302,
251
+ 127.42579746246338
252
+ ],
253
+ "extent": [
254
+ 41.49184036254883,
255
+ 1.18369460105896,
256
+ 112.56279754638672
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ 22.016599655151367,
262
+ 193.6980038881302,
263
+ 127.42579746246338
264
+ ],
265
+ "extent": [
266
+ 41.49184036254883,
267
+ 1.18369460105896,
268
+ 112.56279754638672
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ 22.016599655151367,
278
+ 193.697998046875,
279
+ 14.86299991607666
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
+ 0,
295
+ 0
296
+ ]
297
+ }
298
+ ],
299
+ "door": [
300
+ {
301
+ "object_id": "SM_DoorB",
302
+ "bbox_2d": [
303
+ 1569,
304
+ 203,
305
+ 1642,
306
+ 684
307
+ ],
308
+ "bbox_3d": {
309
+ "aabb": {
310
+ "center": [
311
+ 53.4721565246582,
312
+ 348.2986726760864,
313
+ 121.12959289550781
314
+ ],
315
+ "extent": [
316
+ 33.56492233276367,
317
+ 9.604825019836426,
318
+ 118.99999237060547
319
+ ]
320
+ },
321
+ "obb": {
322
+ "center": [
323
+ 53.4721565246582,
324
+ 348.2986726760864,
325
+ 121.12959289550781
326
+ ],
327
+ "extent": [
328
+ 33.56492233276367,
329
+ 9.604825019836426,
330
+ 118.99999237060547
331
+ ],
332
+ "rotation": [
333
+ 0,
334
+ 0,
335
+ 0
336
+ ]
337
+ },
338
+ "location": [
339
+ 84.53700256347656,
340
+ 347.7980041503906,
341
+ 0
342
+ ],
343
+ "rotation": [
344
+ 0,
345
+ 0,
346
+ 0
347
+ ],
348
+ "scale": [
349
+ 1,
350
+ 1,
351
+ 1
352
+ ]
353
+ },
354
+ "color": [
355
+ 127,
356
+ 191,
357
+ 255
358
+ ]
359
+ }
360
+ ]
361
+ },
362
+ "foreground": {
363
+ "bedside table": [
364
+ {
365
+ "object_id": "SM_BedsideTable",
366
+ "bbox_2d": [
367
+ 1141,
368
+ 797,
369
+ 1248,
370
+ 834
371
+ ],
372
+ "bbox_3d": {
373
+ "aabb": {
374
+ "center": [
375
+ 167.6009979248047,
376
+ 162.75100708007812,
377
+ 37.3790979385376
378
+ ],
379
+ "extent": [
380
+ 22.5,
381
+ 38.53583908081055,
382
+ 7.5
383
+ ]
384
+ },
385
+ "obb": {
386
+ "center": [
387
+ 167.6009979248047,
388
+ 162.75100708007812,
389
+ 37.3790979385376
390
+ ],
391
+ "extent": [
392
+ 22.5,
393
+ 38.53583908081055,
394
+ 7.5
395
+ ],
396
+ "rotation": [
397
+ 0,
398
+ 0,
399
+ 0
400
+ ]
401
+ },
402
+ "location": [
403
+ 190.1009979248047,
404
+ 162.75100708007812,
405
+ 29.879100799560547
406
+ ],
407
+ "rotation": [
408
+ 0,
409
+ 0,
410
+ 0
411
+ ],
412
+ "scale": [
413
+ 1,
414
+ 1,
415
+ 1
416
+ ]
417
+ },
418
+ "color": [
419
+ 127,
420
+ 0,
421
+ 127
422
+ ]
423
+ }
424
+ ],
425
+ "wash basin": [
426
+ {
427
+ "object_id": "SM_Washbasin",
428
+ "bbox_2d": [
429
+ 1569,
430
+ 680,
431
+ 1642,
432
+ 854
433
+ ],
434
+ "bbox_3d": {
435
+ "aabb": {
436
+ "center": [
437
+ 95.55049896240234,
438
+ 219.06398582458496,
439
+ 48.390872192384904
440
+ ],
441
+ "extent": [
442
+ 84.44947814941406,
443
+ 24.235950469970703,
444
+ 48.390869140625
445
+ ]
446
+ },
447
+ "obb": {
448
+ "center": [
449
+ 95.55049896240234,
450
+ 219.06398582458496,
451
+ 48.390872192384904
452
+ ],
453
+ "extent": [
454
+ 84.44947814941406,
455
+ 24.235950469970703,
456
+ 48.390869140625
457
+ ],
458
+ "rotation": [
459
+ 0,
460
+ 0,
461
+ 0
462
+ ]
463
+ },
464
+ "location": [
465
+ 95.55049896240234,
466
+ 219.06399536132812,
467
+ 3.051759904337814e-06
468
+ ],
469
+ "rotation": [
470
+ 0,
471
+ 0,
472
+ 0
473
+ ],
474
+ "scale": [
475
+ 1,
476
+ 1,
477
+ 1
478
+ ]
479
+ },
480
+ "color": [
481
+ 255,
482
+ 63,
483
+ 0
484
+ ]
485
+ }
486
+ ],
487
+ "bedside lamp": [
488
+ {
489
+ "object_id": "SM_BedsideLampB",
490
+ "bbox_2d": [
491
+ 1060,
492
+ 633,
493
+ 1135,
494
+ 708
495
+ ],
496
+ "bbox_3d": {
497
+ "aabb": {
498
+ "center": [
499
+ 181.28752517700195,
500
+ 159.66537804278178,
501
+ 85.31887861472133
502
+ ],
503
+ "extent": [
504
+ 10.781476974487305,
505
+ 8.440744055382112,
506
+ 8.93765120269208
507
+ ]
508
+ },
509
+ "obb": {
510
+ "center": [
511
+ 181.28752517700195,
512
+ 159.66537804278178,
513
+ 85.31887861472133
514
+ ],
515
+ "extent": [
516
+ 10.781476974487305,
517
+ 8.440744055382112,
518
+ 8.93765120269208
519
+ ],
520
+ "rotation": [
521
+ 0,
522
+ 0,
523
+ 1.0017900422099046e-05
524
+ ]
525
+ },
526
+ "location": [
527
+ 192.06900024414062,
528
+ 162.18699645996094,
529
+ 88.33740234375
530
+ ],
531
+ "rotation": [
532
+ 0,
533
+ 0,
534
+ 1.0017900422099046e-05
535
+ ],
536
+ "scale": [
537
+ 1,
538
+ 1,
539
+ 1
540
+ ]
541
+ },
542
+ "color": [
543
+ 127,
544
+ 63,
545
+ 127
546
+ ]
547
+ }
548
+ ],
549
+ "air conditioning": [
550
+ {
551
+ "object_id": "SM_AirConditioningA",
552
+ "bbox_2d": [
553
+ 1215,
554
+ 0,
555
+ 1620,
556
+ 94
557
+ ],
558
+ "bbox_3d": {
559
+ "aabb": {
560
+ "center": [
561
+ 10.882030487060547,
562
+ 193.0000071823597,
563
+ 251.44998836517334
564
+ ],
565
+ "extent": [
566
+ 150.00003051757812,
567
+ 0.30008038878440857,
568
+ 8.791104316711426
569
+ ]
570
+ },
571
+ "obb": {
572
+ "center": [
573
+ 10.882030487060547,
574
+ 193.0000071823597,
575
+ 251.44998836517334
576
+ ],
577
+ "extent": [
578
+ 150.00003051757812,
579
+ 0.30008038878440857,
580
+ 8.791104316711426
581
+ ],
582
+ "rotation": [
583
+ 0,
584
+ 0,
585
+ 0
586
+ ]
587
+ },
588
+ "location": [
589
+ 10.881999969482422,
590
+ 193.3000030517578,
591
+ 251.4499969482422
592
+ ],
593
+ "rotation": [
594
+ 0,
595
+ 0,
596
+ 0
597
+ ],
598
+ "scale": [
599
+ 1,
600
+ 1,
601
+ 1
602
+ ]
603
+ },
604
+ "color": [
605
+ 63,
606
+ 127,
607
+ 63
608
+ ]
609
+ }
610
+ ],
611
+ "bed": [
612
+ {
613
+ "object_id": "SM_Bedc",
614
+ "bbox_2d": [
615
+ 1696,
616
+ 853,
617
+ 1919,
618
+ 1079
619
+ ],
620
+ "bbox_3d": {
621
+ "aabb": {
622
+ "center": [
623
+ 42.59486770629883,
624
+ 46.127655029296875,
625
+ 55.7503662109375
626
+ ],
627
+ "extent": [
628
+ 21.761241912841797,
629
+ 86.27418518066406,
630
+ 20.23805046081543
631
+ ]
632
+ },
633
+ "obb": {
634
+ "center": [
635
+ 42.59486770629883,
636
+ 46.127655029296875,
637
+ 55.7503662109375
638
+ ],
639
+ "extent": [
640
+ 21.761241912841797,
641
+ 86.27418518066406,
642
+ 20.23805046081543
643
+ ],
644
+ "rotation": [
645
+ 0,
646
+ 0,
647
+ 0
648
+ ]
649
+ },
650
+ "location": [
651
+ 92.09200286865234,
652
+ 45.683799743652344,
653
+ 15
654
+ ],
655
+ "rotation": [
656
+ 0,
657
+ 0,
658
+ 0
659
+ ],
660
+ "scale": [
661
+ 1,
662
+ 1,
663
+ 1
664
+ ]
665
+ },
666
+ "color": [
667
+ 127,
668
+ 191,
669
+ 63
670
+ ]
671
+ },
672
+ {
673
+ "object_id": "SM_Beda",
674
+ "bbox_2d": [
675
+ 517,
676
+ 826,
677
+ 1222,
678
+ 1079
679
+ ],
680
+ "bbox_3d": {
681
+ "aabb": {
682
+ "center": [
683
+ 92.09200286865234,
684
+ 45.683807373046875,
685
+ 40.678226470947266
686
+ ],
687
+ "extent": [
688
+ 97.79872131347656,
689
+ 78.52067565917969,
690
+ 25.705135345458984
691
+ ]
692
+ },
693
+ "obb": {
694
+ "center": [
695
+ 92.09200286865234,
696
+ 45.683807373046875,
697
+ 40.678226470947266
698
+ ],
699
+ "extent": [
700
+ 97.79872131347656,
701
+ 78.52067565917969,
702
+ 25.705135345458984
703
+ ],
704
+ "rotation": [
705
+ 0,
706
+ 0,
707
+ 0
708
+ ]
709
+ },
710
+ "location": [
711
+ 92.09200286865234,
712
+ 45.683799743652344,
713
+ 15
714
+ ],
715
+ "rotation": [
716
+ 0,
717
+ 0,
718
+ 0
719
+ ],
720
+ "scale": [
721
+ 1,
722
+ 1,
723
+ 1
724
+ ]
725
+ },
726
+ "color": [
727
+ 63,
728
+ 191,
729
+ 255
730
+ ]
731
+ },
732
+ {
733
+ "object_id": "SM_Bedb",
734
+ "bbox_2d": [
735
+ 993,
736
+ 794,
737
+ 1868,
738
+ 1079
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ 48.03324890136719,
744
+ 46.497535705566406,
745
+ 45.92771911621094
746
+ ],
747
+ "extent": [
748
+ 82.77275848388672,
749
+ 94.72562408447266,
750
+ 31.081745147705078
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ 48.03324890136719,
756
+ 46.497535705566406,
757
+ 45.92771911621094
758
+ ],
759
+ "extent": [
760
+ 82.77275848388672,
761
+ 94.72562408447266,
762
+ 31.081745147705078
763
+ ],
764
+ "rotation": [
765
+ 0,
766
+ 0,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ 92.09200286865234,
772
+ 45.683799743652344,
773
+ 15
774
+ ],
775
+ "rotation": [
776
+ 0,
777
+ 0,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 1,
782
+ 1,
783
+ 1
784
+ ]
785
+ },
786
+ "color": [
787
+ 63,
788
+ 191,
789
+ 127
790
+ ]
791
+ }
792
+ ],
793
+ "pillow": [
794
+ {
795
+ "object_id": "SM_PillowA",
796
+ "bbox_2d": [
797
+ 479,
798
+ 901,
799
+ 624,
800
+ 1064
801
+ ],
802
+ "bbox_3d": {
803
+ "aabb": {
804
+ "center": [
805
+ 183.61700248718262,
806
+ 44.53629684448242,
807
+ 68.39539909362793
808
+ ],
809
+ "extent": [
810
+ 7.069190502166748,
811
+ 53.396400451660156,
812
+ 8.051918983459473
813
+ ]
814
+ },
815
+ "obb": {
816
+ "center": [
817
+ 183.61700248718262,
818
+ 44.53629684448242,
819
+ 68.39539909362793
820
+ ],
821
+ "extent": [
822
+ 7.069190502166748,
823
+ 53.396400451660156,
824
+ 8.051918983459473
825
+ ],
826
+ "rotation": [
827
+ 0,
828
+ 0,
829
+ 0
830
+ ]
831
+ },
832
+ "location": [
833
+ 183.61700439453125,
834
+ 44.53630065917969,
835
+ 68.39540100097656
836
+ ],
837
+ "rotation": [
838
+ 0,
839
+ 0,
840
+ 0
841
+ ],
842
+ "scale": [
843
+ 1,
844
+ 1,
845
+ 1
846
+ ]
847
+ },
848
+ "color": [
849
+ 63,
850
+ 191,
851
+ 0
852
+ ]
853
+ },
854
+ {
855
+ "object_id": "SM_PillowB",
856
+ "bbox_2d": [
857
+ 485,
858
+ 622,
859
+ 1001,
860
+ 1079
861
+ ],
862
+ "bbox_3d": {
863
+ "aabb": {
864
+ "center": [
865
+ 174.71600341796875,
866
+ 47.130794525146484,
867
+ 82.11799240112305
868
+ ],
869
+ "extent": [
870
+ 14.708823204040527,
871
+ 54.53270721435547,
872
+ 20.160995483398438
873
+ ]
874
+ },
875
+ "obb": {
876
+ "center": [
877
+ 174.71600341796875,
878
+ 47.130794525146484,
879
+ 82.11799240112305
880
+ ],
881
+ "extent": [
882
+ 14.708823204040527,
883
+ 54.53270721435547,
884
+ 20.160995483398438
885
+ ],
886
+ "rotation": [
887
+ 0,
888
+ 0,
889
+ 0
890
+ ]
891
+ },
892
+ "location": [
893
+ 174.71600341796875,
894
+ 47.13079833984375,
895
+ 82.11799621582031
896
+ ],
897
+ "rotation": [
898
+ 0,
899
+ 0,
900
+ 0
901
+ ],
902
+ "scale": [
903
+ 1,
904
+ 1,
905
+ 1
906
+ ]
907
+ },
908
+ "color": [
909
+ 63,
910
+ 191,
911
+ 63
912
+ ]
913
+ },
914
+ {
915
+ "object_id": "SM_PillowC",
916
+ "bbox_2d": [
917
+ 630,
918
+ 664,
919
+ 1166,
920
+ 1079
921
+ ],
922
+ "bbox_3d": {
923
+ "aabb": {
924
+ "center": [
925
+ 153.91199588775635,
926
+ 45.196502685546875,
927
+ 79.50050163269043
928
+ ],
929
+ "extent": [
930
+ 11.88922119140625,
931
+ 52.05424499511719,
932
+ 15.85400390625
933
+ ]
934
+ },
935
+ "obb": {
936
+ "center": [
937
+ 153.91199588775635,
938
+ 45.196502685546875,
939
+ 79.50050163269043
940
+ ],
941
+ "extent": [
942
+ 11.88922119140625,
943
+ 52.05424499511719,
944
+ 15.85400390625
945
+ ],
946
+ "rotation": [
947
+ 0,
948
+ 0,
949
+ 0
950
+ ]
951
+ },
952
+ "location": [
953
+ 153.91200256347656,
954
+ 45.19649887084961,
955
+ 79.50050354003906
956
+ ],
957
+ "rotation": [
958
+ 0,
959
+ 0,
960
+ 0
961
+ ],
962
+ "scale": [
963
+ 1,
964
+ 1,
965
+ 1
966
+ ]
967
+ },
968
+ "color": [
969
+ 0,
970
+ 191,
971
+ 191
972
+ ]
973
+ }
974
+ ]
975
+ }
976
+ }
scenes/annotations/HotelRoomVol1/l002_r004/scene_annotations_split.json ADDED
@@ -0,0 +1,1530 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l002_r004",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l002_r004/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -73,
8
+ -1,
9
+ 86
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
+ -73,
38
+ -1,
39
+ 86,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 1044,
58
+ 0,
59
+ 1204,
60
+ 45
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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_CeilingB",
116
+ "bbox_2d": [
117
+ 1104,
118
+ 0,
119
+ 1919,
120
+ 209
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 0,
126
+ -358.29998779296875,
127
+ 238
128
+ ],
129
+ "extent": [
130
+ 180,
131
+ 85,
132
+ 2
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 0,
138
+ -358.29998779296875,
139
+ 238
140
+ ],
141
+ "extent": [
142
+ 180,
143
+ 85,
144
+ 2
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 0,
154
+ -358.29998779296875,
155
+ 236
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 127,
170
+ 255,
171
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "floor": [
176
+ {
177
+ "object_id": "SM_FloorC",
178
+ "bbox_2d": [
179
+ 1044,
180
+ 694,
181
+ 1919,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 0,
188
+ -134.23599243164062,
189
+ 7.499999523162842
190
+ ],
191
+ "extent": [
192
+ 200,
193
+ 329.0640563964844,
194
+ 7.500000476837158
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 0,
200
+ -134.23599243164062,
201
+ 7.499999523162842
202
+ ],
203
+ "extent": [
204
+ 200,
205
+ 329.0640563964844,
206
+ 7.500000476837158
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 0,
216
+ -134.23599243164062,
217
+ 0
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
+ 255,
233
+ 127
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_FloorB",
238
+ "bbox_2d": [
239
+ 667,
240
+ 810,
241
+ 1845,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 0,
248
+ -134.5,
249
+ -5
250
+ ],
251
+ "extent": [
252
+ 220,
253
+ 328.8000183105469,
254
+ 5
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 0,
260
+ -134.5,
261
+ -5
262
+ ],
263
+ "extent": [
264
+ 220,
265
+ 328.8000183105469,
266
+ 5
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 0,
276
+ -134.5,
277
+ 0
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
+ 63
294
+ ]
295
+ }
296
+ ],
297
+ "wall": [
298
+ {
299
+ "object_id": "SM_WallC",
300
+ "bbox_2d": [
301
+ 1336,
302
+ 95,
303
+ 1919,
304
+ 206
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 0,
310
+ -473.29998874664307,
311
+ 140.0000457763672
312
+ ],
313
+ "extent": [
314
+ 200,
315
+ 10.000000953674316,
316
+ 140
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 0,
322
+ -473.29998874664307,
323
+ 140.0000457763672
324
+ ],
325
+ "extent": [
326
+ 200,
327
+ 10.000000953674316,
328
+ 140
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 0,
338
+ -473.29998779296875,
339
+ 0
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
+ 255
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_WallA",
360
+ "bbox_2d": [
361
+ 951,
362
+ 0,
363
+ 1054,
364
+ 869
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ -210,
370
+ -10,
371
+ 140.00003051757812
372
+ ],
373
+ "extent": [
374
+ 10,
375
+ 473.3000183105469,
376
+ 140.00003051757812
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ -210,
382
+ -10,
383
+ 140.00003051757812
384
+ ],
385
+ "extent": [
386
+ 10,
387
+ 473.3000183105469,
388
+ 140.00003051757812
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ -210,
398
+ -10,
399
+ 0
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
+ 127
416
+ ]
417
+ }
418
+ ],
419
+ "window": [
420
+ {
421
+ "object_id": "SM_Window",
422
+ "bbox_2d": [
423
+ 1335,
424
+ 112,
425
+ 1919,
426
+ 735
427
+ ],
428
+ "bbox_3d": {
429
+ "aabb": {
430
+ "center": [
431
+ 0,
432
+ -475.700008392334,
433
+ 125
434
+ ],
435
+ "extent": [
436
+ 200,
437
+ 2.9999682903289795,
438
+ 114.99999237060547
439
+ ]
440
+ },
441
+ "obb": {
442
+ "center": [
443
+ 0,
444
+ -475.700008392334,
445
+ 125
446
+ ],
447
+ "extent": [
448
+ 200,
449
+ 2.9999682903289795,
450
+ 114.99999237060547
451
+ ],
452
+ "rotation": [
453
+ 0,
454
+ 0,
455
+ 0
456
+ ]
457
+ },
458
+ "location": [
459
+ 0,
460
+ -475.70001220703125,
461
+ 125
462
+ ],
463
+ "rotation": [
464
+ 0,
465
+ 0,
466
+ 0
467
+ ],
468
+ "scale": [
469
+ 1,
470
+ 1,
471
+ 1
472
+ ]
473
+ },
474
+ "color": [
475
+ 127,
476
+ 0,
477
+ 63
478
+ ]
479
+ }
480
+ ]
481
+ },
482
+ "foreground": {
483
+ "curtain": [
484
+ {
485
+ "object_id": "SM_CurtainA",
486
+ "bbox_2d": [
487
+ 1243,
488
+ 202,
489
+ 1289,
490
+ 694
491
+ ],
492
+ "bbox_3d": {
493
+ "aabb": {
494
+ "center": [
495
+ -184.63999557495117,
496
+ -450.303014755249,
497
+ 140.9367218017578
498
+ ],
499
+ "extent": [
500
+ 24.034090042114258,
501
+ 8.739770889282227,
502
+ 138.2534637451172
503
+ ]
504
+ },
505
+ "obb": {
506
+ "center": [
507
+ -184.63999557495117,
508
+ -450.303014755249,
509
+ 140.9367218017578
510
+ ],
511
+ "extent": [
512
+ 24.034090042114258,
513
+ 8.739770889282227,
514
+ 138.2534637451172
515
+ ],
516
+ "rotation": [
517
+ 0,
518
+ 0,
519
+ 0
520
+ ]
521
+ },
522
+ "location": [
523
+ -184.63999938964844,
524
+ -450.3030090332031,
525
+ 279.12200927734375
526
+ ],
527
+ "rotation": [
528
+ 0,
529
+ 0,
530
+ 0
531
+ ],
532
+ "scale": [
533
+ 1,
534
+ 1,
535
+ 1
536
+ ]
537
+ },
538
+ "color": [
539
+ 0,
540
+ 127,
541
+ 255
542
+ ]
543
+ },
544
+ {
545
+ "object_id": "SM_CurtainB",
546
+ "bbox_2d": [
547
+ 1289,
548
+ 194,
549
+ 1335,
550
+ 697
551
+ ],
552
+ "bbox_3d": {
553
+ "aabb": {
554
+ "center": [
555
+ -191.80099868774215,
556
+ -460.06000900268623,
557
+ 140.17323303222656
558
+ ],
559
+ "extent": [
560
+ 49.35889114727598,
561
+ 3.510708140746601,
562
+ 138.00962829589844
563
+ ]
564
+ },
565
+ "obb": {
566
+ "center": [
567
+ -191.80099868774215,
568
+ -460.06000900268623,
569
+ 140.17323303222656
570
+ ],
571
+ "extent": [
572
+ 49.35889114727598,
573
+ 3.510708140746601,
574
+ 138.00962829589844
575
+ ],
576
+ "rotation": [
577
+ 0,
578
+ 1.0017900422099046e-05,
579
+ 0
580
+ ]
581
+ },
582
+ "location": [
583
+ -191.80099487304688,
584
+ -460.05999755859375,
585
+ 277.52301025390625
586
+ ],
587
+ "rotation": [
588
+ 0,
589
+ 1.0017900422099046e-05,
590
+ 0
591
+ ],
592
+ "scale": [
593
+ 1,
594
+ 1,
595
+ 1
596
+ ]
597
+ },
598
+ "color": [
599
+ 255,
600
+ 127,
601
+ 0
602
+ ]
603
+ }
604
+ ],
605
+ "drawer": [
606
+ {
607
+ "object_id": "SM_Drawer",
608
+ "bbox_2d": [
609
+ 0,
610
+ 589,
611
+ 1163,
612
+ 1023
613
+ ],
614
+ "bbox_3d": {
615
+ "aabb": {
616
+ "center": [
617
+ -185.02699279785156,
618
+ -53.120384216308594,
619
+ 60.19429588317871
620
+ ],
621
+ "extent": [
622
+ 15,
623
+ 246.42047119140625,
624
+ 10
625
+ ]
626
+ },
627
+ "obb": {
628
+ "center": [
629
+ -185.02699279785156,
630
+ -53.120384216308594,
631
+ 60.19429588317871
632
+ ],
633
+ "extent": [
634
+ 15,
635
+ 246.42047119140625,
636
+ 10
637
+ ],
638
+ "rotation": [
639
+ 0,
640
+ 0,
641
+ 0
642
+ ]
643
+ },
644
+ "location": [
645
+ -200.02699279785156,
646
+ -53.120399475097656,
647
+ 50.19430160522461
648
+ ],
649
+ "rotation": [
650
+ 0,
651
+ 0,
652
+ 0
653
+ ],
654
+ "scale": [
655
+ 1,
656
+ 1,
657
+ 1
658
+ ]
659
+ },
660
+ "color": [
661
+ 255,
662
+ 127,
663
+ 127
664
+ ]
665
+ }
666
+ ],
667
+ "cabinet": [
668
+ {
669
+ "object_id": "SM_CabinetB",
670
+ "bbox_2d": [
671
+ 1044,
672
+ 29,
673
+ 1242,
674
+ 774
675
+ ],
676
+ "bbox_3d": {
677
+ "aabb": {
678
+ "center": [
679
+ -190,
680
+ -358.2999725341797,
681
+ 127.49999237060547
682
+ ],
683
+ "extent": [
684
+ 10,
685
+ 85.00001525878906,
686
+ 112.5
687
+ ]
688
+ },
689
+ "obb": {
690
+ "center": [
691
+ -190,
692
+ -358.2999725341797,
693
+ 127.49999237060547
694
+ ],
695
+ "extent": [
696
+ 10,
697
+ 85.00001525878906,
698
+ 112.5
699
+ ],
700
+ "rotation": [
701
+ 0,
702
+ 0,
703
+ 0
704
+ ]
705
+ },
706
+ "location": [
707
+ -200,
708
+ -358.29998779296875,
709
+ 15
710
+ ],
711
+ "rotation": [
712
+ 0,
713
+ 0,
714
+ 0
715
+ ],
716
+ "scale": [
717
+ 1,
718
+ 1,
719
+ 1
720
+ ]
721
+ },
722
+ "color": [
723
+ 127,
724
+ 0,
725
+ 255
726
+ ]
727
+ }
728
+ ],
729
+ "tv background wall": [
730
+ {
731
+ "object_id": "SM_TVBackgroundwall",
732
+ "bbox_2d": [
733
+ 0,
734
+ 0,
735
+ 950,
736
+ 1079
737
+ ],
738
+ "bbox_3d": {
739
+ "aabb": {
740
+ "center": [
741
+ -194.99996089935303,
742
+ -2.927030086517334,
743
+ 120.00000762939453
744
+ ],
745
+ "extent": [
746
+ 5.000057220458984,
747
+ 196.22706604003906,
748
+ 119.99999237060547
749
+ ]
750
+ },
751
+ "obb": {
752
+ "center": [
753
+ -194.99996089935303,
754
+ -2.927030086517334,
755
+ 120.00000762939453
756
+ ],
757
+ "extent": [
758
+ 5.000057220458984,
759
+ 196.22706604003906,
760
+ 119.99999237060547
761
+ ],
762
+ "rotation": [
763
+ 0,
764
+ 0,
765
+ 0
766
+ ]
767
+ },
768
+ "location": [
769
+ -200,
770
+ -2.927030086517334,
771
+ 0
772
+ ],
773
+ "rotation": [
774
+ 0,
775
+ 0,
776
+ 0
777
+ ],
778
+ "scale": [
779
+ 1,
780
+ 1,
781
+ 1
782
+ ]
783
+ },
784
+ "color": [
785
+ 127,
786
+ 255,
787
+ 0
788
+ ]
789
+ }
790
+ ],
791
+ "tv": [
792
+ {
793
+ "object_id": "SM_TV",
794
+ "bbox_2d": [
795
+ 0,
796
+ 0,
797
+ 826,
798
+ 642
799
+ ],
800
+ "bbox_3d": {
801
+ "aabb": {
802
+ "center": [
803
+ -191.59167134761813,
804
+ -58.649101053747344,
805
+ 122.68900299072266
806
+ ],
807
+ "extent": [
808
+ 1.164358076520415,
809
+ 93.73062917086345,
810
+ 46.75914001464844
811
+ ]
812
+ },
813
+ "obb": {
814
+ "center": [
815
+ -191.59167134761813,
816
+ -58.649101053747344,
817
+ 122.68900299072266
818
+ ],
819
+ "extent": [
820
+ 1.164358076520415,
821
+ 93.73062917086345,
822
+ 46.75914001464844
823
+ ],
824
+ "rotation": [
825
+ 0,
826
+ 1.0017900422099046e-05,
827
+ 0
828
+ ]
829
+ },
830
+ "location": [
831
+ -192.75599670410156,
832
+ -58.64910125732422,
833
+ 122.68900299072266
834
+ ],
835
+ "rotation": [
836
+ 0,
837
+ 1.0017900422099046e-05,
838
+ 0
839
+ ],
840
+ "scale": [
841
+ 1,
842
+ 1,
843
+ 1
844
+ ]
845
+ },
846
+ "color": [
847
+ 127,
848
+ 127,
849
+ 63
850
+ ]
851
+ }
852
+ ],
853
+ "table": [
854
+ {
855
+ "object_id": "SM_TableA",
856
+ "bbox_2d": [
857
+ 1826,
858
+ 617,
859
+ 1919,
860
+ 642
861
+ ],
862
+ "bbox_3d": {
863
+ "aabb": {
864
+ "center": [
865
+ 44.800594329833984,
866
+ -387.695011138916,
867
+ 37.94319820404053
868
+ ],
869
+ "extent": [
870
+ 34.422569274902344,
871
+ 34.422569274902344,
872
+ 23.104700088500977
873
+ ]
874
+ },
875
+ "obb": {
876
+ "center": [
877
+ 44.800594329833984,
878
+ -387.695011138916,
879
+ 37.94319820404053
880
+ ],
881
+ "extent": [
882
+ 34.422569274902344,
883
+ 34.422569274902344,
884
+ 23.104700088500977
885
+ ],
886
+ "rotation": [
887
+ 0,
888
+ 0,
889
+ 0
890
+ ]
891
+ },
892
+ "location": [
893
+ 44.80059814453125,
894
+ -387.69500732421875,
895
+ 14.838500022888184
896
+ ],
897
+ "rotation": [
898
+ 0,
899
+ 0,
900
+ 0
901
+ ],
902
+ "scale": [
903
+ 1,
904
+ 1,
905
+ 1
906
+ ]
907
+ },
908
+ "color": [
909
+ 127,
910
+ 63,
911
+ 255
912
+ ]
913
+ },
914
+ {
915
+ "object_id": "SM_TableB",
916
+ "bbox_2d": [
917
+ 1158,
918
+ 561,
919
+ 1385,
920
+ 747
921
+ ],
922
+ "bbox_3d": {
923
+ "aabb": {
924
+ "center": [
925
+ -149.79597091674805,
926
+ -356.0385398864746,
927
+ 46.257906913757324
928
+ ],
929
+ "extent": [
930
+ 38.74999237060547,
931
+ 38.749996185302734,
932
+ 31.272306442260742
933
+ ]
934
+ },
935
+ "obb": {
936
+ "center": [
937
+ -149.79597091674805,
938
+ -356.0385398864746,
939
+ 46.257906913757324
940
+ ],
941
+ "extent": [
942
+ 38.74999237060547,
943
+ 38.749996185302734,
944
+ 31.272306442260742
945
+ ],
946
+ "rotation": [
947
+ 0,
948
+ 0,
949
+ 0
950
+ ]
951
+ },
952
+ "location": [
953
+ -149.79600524902344,
954
+ -356.0039978027344,
955
+ 14.985600471496582
956
+ ],
957
+ "rotation": [
958
+ 0,
959
+ 0,
960
+ 0
961
+ ],
962
+ "scale": [
963
+ 1,
964
+ 1,
965
+ 1
966
+ ]
967
+ },
968
+ "color": [
969
+ 63,
970
+ 255,
971
+ 63
972
+ ]
973
+ }
974
+ ],
975
+ "chair": [
976
+ {
977
+ "object_id": "SM_Chair",
978
+ "bbox_2d": [
979
+ 1419,
980
+ 522,
981
+ 1624,
982
+ 762
983
+ ],
984
+ "bbox_3d": {
985
+ "aabb": {
986
+ "center": [
987
+ -70.37654917330788,
988
+ -386.44064606697947,
989
+ 53.646121978759766
990
+ ],
991
+ "extent": [
992
+ 36.46827404604548,
993
+ 36.58248116489722,
994
+ 38.66487121582031
995
+ ]
996
+ },
997
+ "obb": {
998
+ "center": [
999
+ -70.37654917330788,
1000
+ -386.44064606697947,
1001
+ 53.646121978759766
1002
+ ],
1003
+ "extent": [
1004
+ 36.46827404604548,
1005
+ 36.58248116489722,
1006
+ 38.66487121582031
1007
+ ],
1008
+ "rotation": [
1009
+ 0,
1010
+ 40.00004196166993,
1011
+ 0
1012
+ ]
1013
+ },
1014
+ "location": [
1015
+ -70.37652587890625,
1016
+ -386.440673828125,
1017
+ 14.991600036621094
1018
+ ],
1019
+ "rotation": [
1020
+ 0,
1021
+ 40.00004196166993,
1022
+ 0
1023
+ ],
1024
+ "scale": [
1025
+ 1,
1026
+ 1,
1027
+ 1
1028
+ ]
1029
+ },
1030
+ "color": [
1031
+ 63,
1032
+ 0,
1033
+ 63
1034
+ ]
1035
+ }
1036
+ ],
1037
+ "plant": [
1038
+ {
1039
+ "object_id": "SM_Plant",
1040
+ "bbox_2d": [
1041
+ 977,
1042
+ 340,
1043
+ 1081,
1044
+ 599
1045
+ ],
1046
+ "bbox_3d": {
1047
+ "aabb": {
1048
+ "center": [
1049
+ -186.37751579284668,
1050
+ -237.51317405700684,
1051
+ 106.01042938232422
1052
+ ],
1053
+ "extent": [
1054
+ 9.79758358001709,
1055
+ 22.762449264526367,
1056
+ 36.91743469238281
1057
+ ]
1058
+ },
1059
+ "obb": {
1060
+ "center": [
1061
+ -186.37751579284668,
1062
+ -237.51317405700684,
1063
+ 106.01042938232422
1064
+ ],
1065
+ "extent": [
1066
+ 9.79758358001709,
1067
+ 22.762449264526367,
1068
+ 36.91743469238281
1069
+ ],
1070
+ "rotation": [
1071
+ 0,
1072
+ 0,
1073
+ 0
1074
+ ]
1075
+ },
1076
+ "location": [
1077
+ -184.35899353027344,
1078
+ -235.2469940185547,
1079
+ 69.09300231933594
1080
+ ],
1081
+ "rotation": [
1082
+ 0,
1083
+ 0,
1084
+ 0
1085
+ ],
1086
+ "scale": [
1087
+ 1,
1088
+ 1,
1089
+ 1
1090
+ ]
1091
+ },
1092
+ "color": [
1093
+ 255,
1094
+ 0,
1095
+ 191
1096
+ ]
1097
+ }
1098
+ ],
1099
+ "picture": [
1100
+ {
1101
+ "object_id": "SM_Picture",
1102
+ "bbox_2d": [
1103
+ 962,
1104
+ 63,
1105
+ 1008,
1106
+ 230
1107
+ ],
1108
+ "bbox_3d": {
1109
+ "aabb": {
1110
+ "center": [
1111
+ -199.76694284379482,
1112
+ -235.24699306488037,
1113
+ 193.97799110412598
1114
+ ],
1115
+ "extent": [
1116
+ 0.22517012059688568,
1117
+ 13.180268287658691,
1118
+ 18.640668869018555
1119
+ ]
1120
+ },
1121
+ "obb": {
1122
+ "center": [
1123
+ -199.76694284379482,
1124
+ -235.24699306488037,
1125
+ 193.97799110412598
1126
+ ],
1127
+ "extent": [
1128
+ 0.22517012059688568,
1129
+ 13.180268287658691,
1130
+ 18.640668869018555
1131
+ ],
1132
+ "rotation": [
1133
+ 0,
1134
+ 0,
1135
+ 0
1136
+ ]
1137
+ },
1138
+ "location": [
1139
+ -199.99200439453125,
1140
+ -235.2469940185547,
1141
+ 193.97799682617188
1142
+ ],
1143
+ "rotation": [
1144
+ 0,
1145
+ 0,
1146
+ 0
1147
+ ],
1148
+ "scale": [
1149
+ 1,
1150
+ 1,
1151
+ 1
1152
+ ]
1153
+ },
1154
+ "color": [
1155
+ 127,
1156
+ 0,
1157
+ 191
1158
+ ]
1159
+ }
1160
+ ],
1161
+ "cup": [
1162
+ {
1163
+ "object_id": "SM_CupB",
1164
+ "bbox_2d": [
1165
+ 1236,
1166
+ 543,
1167
+ 1258,
1168
+ 556
1169
+ ],
1170
+ "bbox_3d": {
1171
+ "aabb": {
1172
+ "center": [
1173
+ -160.06632614135742,
1174
+ -368.4804297267654,
1175
+ 81.65173792062303
1176
+ ],
1177
+ "extent": [
1178
+ 4.2690935134887695,
1179
+ 4.2901712269720065,
1180
+ 3.18805483489416
1181
+ ]
1182
+ },
1183
+ "obb": {
1184
+ "center": [
1185
+ -160.06632614135742,
1186
+ -368.4804297267654,
1187
+ 81.65173792062303
1188
+ ],
1189
+ "extent": [
1190
+ 4.2690935134887695,
1191
+ 4.2901712269720065,
1192
+ 3.18805483489416
1193
+ ],
1194
+ "rotation": [
1195
+ 0,
1196
+ 0,
1197
+ -1.0017900422099046e-05
1198
+ ]
1199
+ },
1200
+ "location": [
1201
+ -160.10400390625,
1202
+ -368.4360046386719,
1203
+ 78.48179626464844
1204
+ ],
1205
+ "rotation": [
1206
+ 0,
1207
+ 0,
1208
+ -1.0017900422099046e-05
1209
+ ],
1210
+ "scale": [
1211
+ 1,
1212
+ 1,
1213
+ 1
1214
+ ]
1215
+ },
1216
+ "color": [
1217
+ 127,
1218
+ 255,
1219
+ 191
1220
+ ]
1221
+ }
1222
+ ],
1223
+ "magazine": [
1224
+ {
1225
+ "object_id": "SM_Magazine",
1226
+ "bbox_2d": [
1227
+ 1258,
1228
+ 561,
1229
+ 1361,
1230
+ 565
1231
+ ],
1232
+ "bbox_3d": {
1233
+ "aabb": {
1234
+ "center": [
1235
+ -134.54961204314307,
1236
+ -350.52831601056704,
1237
+ 77.97567614912985
1238
+ ],
1239
+ "extent": [
1240
+ 16.358652273061374,
1241
+ 14.58613194866075,
1242
+ 0.4929099678993367
1243
+ ]
1244
+ },
1245
+ "obb": {
1246
+ "center": [
1247
+ -134.54961204314307,
1248
+ -350.52831601056704,
1249
+ 77.97567614912985
1250
+ ],
1251
+ "extent": [
1252
+ 16.358652273061374,
1253
+ 14.58613194866075,
1254
+ 0.4929099678993367
1255
+ ],
1256
+ "rotation": [
1257
+ 90,
1258
+ -160.00012207031253,
1259
+ 0
1260
+ ]
1261
+ },
1262
+ "location": [
1263
+ -147.25,
1264
+ -355.1470031738281,
1265
+ 77.92990112304688
1266
+ ],
1267
+ "rotation": [
1268
+ 90,
1269
+ -160.00012207031253,
1270
+ 0
1271
+ ],
1272
+ "scale": [
1273
+ 1,
1274
+ 1,
1275
+ 1
1276
+ ]
1277
+ },
1278
+ "color": [
1279
+ 127,
1280
+ 127,
1281
+ 191
1282
+ ]
1283
+ }
1284
+ ],
1285
+ "tray": [
1286
+ {
1287
+ "object_id": "SM_TrayC",
1288
+ "bbox_2d": [
1289
+ 1216,
1290
+ 556,
1291
+ 1285,
1292
+ 562
1293
+ ],
1294
+ "bbox_3d": {
1295
+ "aabb": {
1296
+ "center": [
1297
+ -158.843994140625,
1298
+ -368.0790100097656,
1299
+ 78.75958907604218
1300
+ ],
1301
+ "extent": [
1302
+ 12.496990203857422,
1303
+ 12.496990203857422,
1304
+ 1.217192530632019
1305
+ ]
1306
+ },
1307
+ "obb": {
1308
+ "center": [
1309
+ -158.843994140625,
1310
+ -368.0790100097656,
1311
+ 78.75958907604218
1312
+ ],
1313
+ "extent": [
1314
+ 12.496990203857422,
1315
+ 12.496990203857422,
1316
+ 1.217192530632019
1317
+ ],
1318
+ "rotation": [
1319
+ 0,
1320
+ 0,
1321
+ 0
1322
+ ]
1323
+ },
1324
+ "location": [
1325
+ -158.843994140625,
1326
+ -368.0790100097656,
1327
+ 77.54239654541016
1328
+ ],
1329
+ "rotation": [
1330
+ 0,
1331
+ 0,
1332
+ 0
1333
+ ],
1334
+ "scale": [
1335
+ 1,
1336
+ 1,
1337
+ 1
1338
+ ]
1339
+ },
1340
+ "color": [
1341
+ 127,
1342
+ 63,
1343
+ 191
1344
+ ]
1345
+ }
1346
+ ],
1347
+ "ornament": [
1348
+ {
1349
+ "object_id": "SM_OrnamentC_2",
1350
+ "bbox_2d": [
1351
+ 1135,
1352
+ 483,
1353
+ 1146,
1354
+ 533
1355
+ ],
1356
+ "bbox_3d": {
1357
+ "aabb": {
1358
+ "center": [
1359
+ -190.45645141601562,
1360
+ -325.1131591796875,
1361
+ 96.93545506470139
1362
+ ],
1363
+ "extent": [
1364
+ 5.644383376909559,
1365
+ 5.64438397869327,
1366
+ 8.884597520756074
1367
+ ]
1368
+ },
1369
+ "obb": {
1370
+ "center": [
1371
+ -190.45645141601562,
1372
+ -325.1131591796875,
1373
+ 96.93545506470139
1374
+ ],
1375
+ "extent": [
1376
+ 5.644383376909559,
1377
+ 5.64438397869327,
1378
+ 8.884597520756074
1379
+ ],
1380
+ "rotation": [
1381
+ 0,
1382
+ 0,
1383
+ 0
1384
+ ]
1385
+ },
1386
+ "location": [
1387
+ -190.45645141601562,
1388
+ -325.1131591796875,
1389
+ 88.05085754394531
1390
+ ],
1391
+ "rotation": [
1392
+ 0,
1393
+ 0,
1394
+ 0
1395
+ ],
1396
+ "scale": [
1397
+ 0.631015956401825,
1398
+ 0.631015956401825,
1399
+ 0.8310162425041199
1400
+ ]
1401
+ },
1402
+ "color": [
1403
+ 63,
1404
+ 31,
1405
+ 0
1406
+ ]
1407
+ },
1408
+ {
1409
+ "object_id": "SM_OrnamentD_10",
1410
+ "bbox_2d": [
1411
+ 1178,
1412
+ 488,
1413
+ 1189,
1414
+ 534
1415
+ ],
1416
+ "bbox_3d": {
1417
+ "aabb": {
1418
+ "center": [
1419
+ -193.01506074165886,
1420
+ -392.0024108886719,
1421
+ 97.88160162473139
1422
+ ],
1423
+ "extent": [
1424
+ 4.2531043675359115,
1425
+ 4.1884908315691405,
1426
+ 9.830744080786076
1427
+ ]
1428
+ },
1429
+ "obb": {
1430
+ "center": [
1431
+ -193.01506074165886,
1432
+ -392.0024108886719,
1433
+ 97.88160162473139
1434
+ ],
1435
+ "extent": [
1436
+ 4.2531043675359115,
1437
+ 4.1884908315691405,
1438
+ 9.830744080786076
1439
+ ],
1440
+ "rotation": [
1441
+ 0,
1442
+ 0,
1443
+ 0
1444
+ ]
1445
+ },
1446
+ "location": [
1447
+ -193.0150604248047,
1448
+ -392.0024108886719,
1449
+ 88.05085754394531
1450
+ ],
1451
+ "rotation": [
1452
+ 0,
1453
+ 0,
1454
+ 0
1455
+ ],
1456
+ "scale": [
1457
+ 0.6644913554191589,
1458
+ 0.6644913554191589,
1459
+ 0.6644913554191589
1460
+ ]
1461
+ },
1462
+ "color": [
1463
+ 63,
1464
+ 31,
1465
+ 255
1466
+ ]
1467
+ },
1468
+ {
1469
+ "object_id": "SM_OrnamentF_18",
1470
+ "bbox_2d": [
1471
+ 1142,
1472
+ 514,
1473
+ 1158,
1474
+ 533
1475
+ ],
1476
+ "bbox_3d": {
1477
+ "aabb": {
1478
+ "center": [
1479
+ -188.71698622468278,
1480
+ -335.8035202390388,
1481
+ 91.75630736351013
1482
+ ],
1483
+ "extent": [
1484
+ 6.366357987330417,
1485
+ 6.366364094307244,
1486
+ 3.7054548263549805
1487
+ ]
1488
+ },
1489
+ "obb": {
1490
+ "center": [
1491
+ -188.71698622468278,
1492
+ -335.8035202390388,
1493
+ 91.75630736351013
1494
+ ],
1495
+ "extent": [
1496
+ 6.366357987330417,
1497
+ 6.366364094307244,
1498
+ 3.7054548263549805
1499
+ ],
1500
+ "rotation": [
1501
+ 0,
1502
+ 45.00004196166992,
1503
+ 0
1504
+ ]
1505
+ },
1506
+ "location": [
1507
+ -188.717041015625,
1508
+ -335.803466796875,
1509
+ 88.05085754394531
1510
+ ],
1511
+ "rotation": [
1512
+ 0,
1513
+ 45.00004196166992,
1514
+ 0
1515
+ ],
1516
+ "scale": [
1517
+ 1,
1518
+ 1,
1519
+ 1
1520
+ ]
1521
+ },
1522
+ "color": [
1523
+ 63,
1524
+ 31,
1525
+ 191
1526
+ ]
1527
+ }
1528
+ ]
1529
+ }
1530
+ }
scenes/annotations/HotelRoomVol1/l005_r005/scene_annotations_split.json ADDED
@@ -0,0 +1,794 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l005_r005",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l005_r005/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 75,
8
+ -174,
9
+ 90
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
+ 75,
38
+ -174,
39
+ 90,
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_FloorC",
56
+ "bbox_2d": [
57
+ 343,
58
+ 822,
59
+ 446,
60
+ 836
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ -134.23599243164062,
67
+ 7.499999523162842
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 329.0640563964844,
72
+ 7.500000476837158
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ -134.23599243164062,
79
+ 7.499999523162842
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 329.0640563964844,
84
+ 7.500000476837158
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ -134.23599243164062,
95
+ 0
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
+ "background wall": [
116
+ {
117
+ "object_id": "SM_BackgroundwallC",
118
+ "bbox_2d": [
119
+ 1330,
120
+ 0,
121
+ 1919,
122
+ 408
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 138.97036743164062,
128
+ -39.36470031738281,
129
+ 127.49999237060547
130
+ ],
131
+ "extent": [
132
+ 61.02964782714844,
133
+ 233.93521118164062,
134
+ 112.5
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 138.97036743164062,
140
+ -39.36470031738281,
141
+ 127.49999237060547
142
+ ],
143
+ "extent": [
144
+ 61.02964782714844,
145
+ 233.93521118164062,
146
+ 112.5
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 200,
156
+ -39.36470031738281,
157
+ 15
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
+ 127,
173
+ 255
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_BackgroundwallD",
178
+ "bbox_2d": [
179
+ 813,
180
+ 0,
181
+ 1329,
182
+ 770
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 190,
188
+ -358.2999725341797,
189
+ 120.00002136230978
190
+ ],
191
+ "extent": [
192
+ 10.000007629394531,
193
+ 85.00000762939453,
194
+ 120.0000228881836
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 190,
200
+ -358.2999725341797,
201
+ 120.00002136230978
202
+ ],
203
+ "extent": [
204
+ 10.000007629394531,
205
+ 85.00000762939453,
206
+ 120.0000228881836
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 200,
216
+ -358.29998779296875,
217
+ 3.662109884317033e-05
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
+ 63
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_BackgroundwallA",
238
+ "bbox_2d": [
239
+ 1293,
240
+ 311,
241
+ 1919,
242
+ 738
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 194.8563780784607,
248
+ -40.36479949951172,
249
+ 62.49999237060547
250
+ ],
251
+ "extent": [
252
+ 5.143621921539307,
253
+ 232.9352569580078,
254
+ 47.5
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 194.8563780784607,
260
+ -40.36479949951172,
261
+ 62.49999237060547
262
+ ],
263
+ "extent": [
264
+ 5.143621921539307,
265
+ 232.9352569580078,
266
+ 47.5
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 200,
276
+ -40.36479949951172,
277
+ 15
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
+ 63,
293
+ 255
294
+ ]
295
+ }
296
+ ],
297
+ "ceiling": [
298
+ {
299
+ "object_id": "SM_CeilingB",
300
+ "bbox_2d": [
301
+ 633,
302
+ 0,
303
+ 853,
304
+ 48
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 0,
310
+ -358.29998779296875,
311
+ 238
312
+ ],
313
+ "extent": [
314
+ 180,
315
+ 85,
316
+ 2
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 0,
322
+ -358.29998779296875,
323
+ 238
324
+ ],
325
+ "extent": [
326
+ 180,
327
+ 85,
328
+ 2
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 0,
338
+ -358.29998779296875,
339
+ 236
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
+ "wall lamp": [
360
+ {
361
+ "object_id": "SM_WallLamp",
362
+ "bbox_2d": [
363
+ 892,
364
+ 200,
365
+ 967,
366
+ 257
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ 176.98500061035156,
372
+ -364.8559875488281,
373
+ 159.677001953125
374
+ ],
375
+ "extent": [
376
+ 3,
377
+ 12.5,
378
+ 2.5
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ 176.98500061035156,
384
+ -364.8559875488281,
385
+ 159.677001953125
386
+ ],
387
+ "extent": [
388
+ 3,
389
+ 12.5,
390
+ 2.5
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ 179.98500061035156,
400
+ -364.8559875488281,
401
+ 159.677001953125
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
+ 255,
417
+ 127
418
+ ]
419
+ }
420
+ ],
421
+ "wall": [
422
+ {
423
+ "object_id": "SM_WallC",
424
+ "bbox_2d": [
425
+ 471,
426
+ 0,
427
+ 603,
428
+ 33
429
+ ],
430
+ "bbox_3d": {
431
+ "aabb": {
432
+ "center": [
433
+ 0,
434
+ -473.29998874664307,
435
+ 140.0000457763672
436
+ ],
437
+ "extent": [
438
+ 200,
439
+ 10.000000953674316,
440
+ 140
441
+ ]
442
+ },
443
+ "obb": {
444
+ "center": [
445
+ 0,
446
+ -473.29998874664307,
447
+ 140.0000457763672
448
+ ],
449
+ "extent": [
450
+ 200,
451
+ 10.000000953674316,
452
+ 140
453
+ ],
454
+ "rotation": [
455
+ 0,
456
+ 0,
457
+ 0
458
+ ]
459
+ },
460
+ "location": [
461
+ 0,
462
+ -473.29998779296875,
463
+ 0
464
+ ],
465
+ "rotation": [
466
+ 0,
467
+ 0,
468
+ 0
469
+ ],
470
+ "scale": [
471
+ 1,
472
+ 1,
473
+ 1
474
+ ]
475
+ },
476
+ "color": [
477
+ 127,
478
+ 127,
479
+ 255
480
+ ]
481
+ }
482
+ ],
483
+ "window": [
484
+ {
485
+ "object_id": "SM_Window",
486
+ "bbox_2d": [
487
+ 0,
488
+ 0,
489
+ 603,
490
+ 845
491
+ ],
492
+ "bbox_3d": {
493
+ "aabb": {
494
+ "center": [
495
+ 0,
496
+ -475.700008392334,
497
+ 125
498
+ ],
499
+ "extent": [
500
+ 200,
501
+ 2.9999682903289795,
502
+ 114.99999237060547
503
+ ]
504
+ },
505
+ "obb": {
506
+ "center": [
507
+ 0,
508
+ -475.700008392334,
509
+ 125
510
+ ],
511
+ "extent": [
512
+ 200,
513
+ 2.9999682903289795,
514
+ 114.99999237060547
515
+ ],
516
+ "rotation": [
517
+ 0,
518
+ 0,
519
+ 0
520
+ ]
521
+ },
522
+ "location": [
523
+ 0,
524
+ -475.70001220703125,
525
+ 125
526
+ ],
527
+ "rotation": [
528
+ 0,
529
+ 0,
530
+ 0
531
+ ],
532
+ "scale": [
533
+ 1,
534
+ 1,
535
+ 1
536
+ ]
537
+ },
538
+ "color": [
539
+ 127,
540
+ 0,
541
+ 63
542
+ ]
543
+ }
544
+ ]
545
+ },
546
+ "foreground": {
547
+ "sofa": [
548
+ {
549
+ "object_id": "SM_Sofa",
550
+ "bbox_2d": [
551
+ 491,
552
+ 548,
553
+ 1241,
554
+ 795
555
+ ],
556
+ "bbox_3d": {
557
+ "aabb": {
558
+ "center": [
559
+ 136.7830047607422,
560
+ -362.3440234041493,
561
+ 51.409241676326005
562
+ ],
563
+ "extent": [
564
+ 43.96183776855469,
565
+ 89.15413540365967,
566
+ 36.46275743999065
567
+ ]
568
+ },
569
+ "obb": {
570
+ "center": [
571
+ 136.7830047607422,
572
+ -362.3440234041493,
573
+ 51.409241676326
574
+ ],
575
+ "extent": [
576
+ 43.96183776855469,
577
+ 89.15413540365967,
578
+ 36.46275743999065
579
+ ],
580
+ "rotation": [
581
+ 0,
582
+ 0,
583
+ -1.0017900422099046e-05
584
+ ]
585
+ },
586
+ "location": [
587
+ 136.7830047607422,
588
+ -362.343994140625,
589
+ 14.946499824523926
590
+ ],
591
+ "rotation": [
592
+ 0,
593
+ 0,
594
+ -1.0017900422099046e-05
595
+ ],
596
+ "scale": [
597
+ 1,
598
+ 1,
599
+ 1
600
+ ]
601
+ },
602
+ "color": [
603
+ 127,
604
+ 63,
605
+ 0
606
+ ]
607
+ }
608
+ ],
609
+ "table": [
610
+ {
611
+ "object_id": "SM_TableA",
612
+ "bbox_2d": [
613
+ 0,
614
+ 676,
615
+ 430,
616
+ 850
617
+ ],
618
+ "bbox_3d": {
619
+ "aabb": {
620
+ "center": [
621
+ 44.800594329833984,
622
+ -387.695011138916,
623
+ 37.94319820404053
624
+ ],
625
+ "extent": [
626
+ 34.422569274902344,
627
+ 34.422569274902344,
628
+ 23.104700088500977
629
+ ]
630
+ },
631
+ "obb": {
632
+ "center": [
633
+ 44.800594329833984,
634
+ -387.695011138916,
635
+ 37.94319820404053
636
+ ],
637
+ "extent": [
638
+ 34.422569274902344,
639
+ 34.422569274902344,
640
+ 23.104700088500977
641
+ ],
642
+ "rotation": [
643
+ 0,
644
+ 0,
645
+ 0
646
+ ]
647
+ },
648
+ "location": [
649
+ 44.80059814453125,
650
+ -387.69500732421875,
651
+ 14.838500022888184
652
+ ],
653
+ "rotation": [
654
+ 0,
655
+ 0,
656
+ 0
657
+ ],
658
+ "scale": [
659
+ 1,
660
+ 1,
661
+ 1
662
+ ]
663
+ },
664
+ "color": [
665
+ 127,
666
+ 63,
667
+ 255
668
+ ]
669
+ }
670
+ ],
671
+ "book": [
672
+ {
673
+ "object_id": "SM_BookA",
674
+ "bbox_2d": [
675
+ 105,
676
+ 681,
677
+ 296,
678
+ 713
679
+ ],
680
+ "bbox_3d": {
681
+ "aabb": {
682
+ "center": [
683
+ 44.58218479730281,
684
+ -387.42662173219014,
685
+ 62.332199454307556
686
+ ],
687
+ "extent": [
688
+ 12.862680606961376,
689
+ 10.277890252115583,
690
+ 1.3079590797424316
691
+ ]
692
+ },
693
+ "obb": {
694
+ "center": [
695
+ 44.58218479730281,
696
+ -387.42662173219014,
697
+ 62.332199454307556
698
+ ],
699
+ "extent": [
700
+ 12.862680606961376,
701
+ 10.277890252115583,
702
+ 1.3079590797424316
703
+ ],
704
+ "rotation": [
705
+ 90,
706
+ 15.000000000000002,
707
+ 0
708
+ ]
709
+ },
710
+ "location": [
711
+ 55.5088005065918,
712
+ -384.6050109863281,
713
+ 62.33219909667969
714
+ ],
715
+ "rotation": [
716
+ 90,
717
+ 15.000000000000002,
718
+ 0
719
+ ],
720
+ "scale": [
721
+ 1,
722
+ 1,
723
+ 1
724
+ ]
725
+ },
726
+ "color": [
727
+ 255,
728
+ 127,
729
+ 191
730
+ ]
731
+ },
732
+ {
733
+ "object_id": "SM_BookB",
734
+ "bbox_2d": [
735
+ 106,
736
+ 662,
737
+ 288,
738
+ 698
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ 43.979239377734906,
744
+ -388.4510920317505,
745
+ 65.30427742004395
746
+ ],
747
+ "extent": [
748
+ 11.960962727802134,
749
+ 8.556183682080245,
750
+ 1.7609462738037145
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ 43.979239377734906,
756
+ -388.4510920317505,
757
+ 65.30427742004395
758
+ ],
759
+ "extent": [
760
+ 11.960962727802134,
761
+ 8.556183682080245,
762
+ 1.7609462738037145
763
+ ],
764
+ "rotation": [
765
+ 90,
766
+ 4.999999999999995,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ 55.14929962158203,
772
+ -387.4960021972656,
773
+ 65.34030151367188
774
+ ],
775
+ "rotation": [
776
+ 90,
777
+ 4.999999999999995,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 1,
782
+ 1,
783
+ 1
784
+ ]
785
+ },
786
+ "color": [
787
+ 255,
788
+ 63,
789
+ 191
790
+ ]
791
+ }
792
+ ]
793
+ }
794
+ }
scenes/annotations/HotelRoomVol1/l007_r000/scene_annotations_split.json ADDED
@@ -0,0 +1,1464 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l007_r000",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l007_r000/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -142,
8
+ 116,
9
+ 96
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
+ -142,
38
+ 116,
39
+ 96,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1828,
60
+ 135
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "floor": [
116
+ {
117
+ "object_id": "SM_FloorC",
118
+ "bbox_2d": [
119
+ 1032,
120
+ 774,
121
+ 1469,
122
+ 1079
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 0,
128
+ -134.23599243164062,
129
+ 7.499999523162842
130
+ ],
131
+ "extent": [
132
+ 200,
133
+ 329.0640563964844,
134
+ 7.500000476837158
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 0,
140
+ -134.23599243164062,
141
+ 7.499999523162842
142
+ ],
143
+ "extent": [
144
+ 200,
145
+ 329.0640563964844,
146
+ 7.500000476837158
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 0,
156
+ -134.23599243164062,
157
+ 0
158
+ ],
159
+ "rotation": [
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "scale": [
165
+ 1,
166
+ 1,
167
+ 1
168
+ ]
169
+ },
170
+ "color": [
171
+ 0,
172
+ 255,
173
+ 127
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_FloorA",
178
+ "bbox_2d": [
179
+ 1773,
180
+ 888,
181
+ 1919,
182
+ 950
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 0,
188
+ 338.79998779296875,
189
+ -4.900002956390381
190
+ ],
191
+ "extent": [
192
+ 220,
193
+ 144.49998474121094,
194
+ 5.099997043609619
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 0,
200
+ 338.79998779296875,
201
+ -4.900002956390381
202
+ ],
203
+ "extent": [
204
+ 220,
205
+ 144.49998474121094,
206
+ 5.099997043609619
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 0,
216
+ 338.79998779296875,
217
+ 0
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
+ 0,
233
+ 63
234
+ ]
235
+ }
236
+ ],
237
+ "wall": [
238
+ {
239
+ "object_id": "SM_WallF",
240
+ "bbox_2d": [
241
+ 1303,
242
+ 0,
243
+ 1317,
244
+ 893
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ 128.97000122070312,
250
+ 198.9349913597107,
251
+ 120
252
+ ],
253
+ "extent": [
254
+ 51.02964401245117,
255
+ 4.364752292633057,
256
+ 120
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ 128.97000122070312,
262
+ 198.9349913597107,
263
+ 120
264
+ ],
265
+ "extent": [
266
+ 51.02964401245117,
267
+ 4.364752292633057,
268
+ 120
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ 128.97000122070312,
278
+ 198.93499755859375,
279
+ 0
280
+ ],
281
+ "rotation": [
282
+ 0,
283
+ 0,
284
+ 0
285
+ ],
286
+ "scale": [
287
+ 1,
288
+ 1,
289
+ 1
290
+ ]
291
+ },
292
+ "color": [
293
+ 0,
294
+ 127,
295
+ 0
296
+ ]
297
+ },
298
+ {
299
+ "object_id": "SM_WallE",
300
+ "bbox_2d": [
301
+ 1577,
302
+ 99,
303
+ 1671,
304
+ 618
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 101,
310
+ 338.79998779296875,
311
+ 140.00003051757812
312
+ ],
313
+ "extent": [
314
+ 119,
315
+ 144.5,
316
+ 140.00003051757812
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 101,
322
+ 338.79998779296875,
323
+ 140.00003051757812
324
+ ],
325
+ "extent": [
326
+ 119,
327
+ 144.5,
328
+ 140.00003051757812
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 101,
338
+ 338.79998779296875,
339
+ 0
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
+ 63
356
+ ]
357
+ }
358
+ ],
359
+ "background wall": [
360
+ {
361
+ "object_id": "SM_BackgroundwallC",
362
+ "bbox_2d": [
363
+ 0,
364
+ 0,
365
+ 1302,
366
+ 893
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ 138.97036743164062,
372
+ -39.36470031738281,
373
+ 127.49999237060547
374
+ ],
375
+ "extent": [
376
+ 61.02964782714844,
377
+ 233.93521118164062,
378
+ 112.5
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ 138.97036743164062,
384
+ -39.36470031738281,
385
+ 127.49999237060547
386
+ ],
387
+ "extent": [
388
+ 61.02964782714844,
389
+ 233.93521118164062,
390
+ 112.5
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ 200,
400
+ -39.36470031738281,
401
+ 15
402
+ ],
403
+ "rotation": [
404
+ 0,
405
+ 0,
406
+ 0
407
+ ],
408
+ "scale": [
409
+ 1,
410
+ 1,
411
+ 1
412
+ ]
413
+ },
414
+ "color": [
415
+ 255,
416
+ 127,
417
+ 255
418
+ ]
419
+ },
420
+ {
421
+ "object_id": "SM_BackgroundwallA",
422
+ "bbox_2d": [
423
+ 0,
424
+ 499,
425
+ 1181,
426
+ 773
427
+ ],
428
+ "bbox_3d": {
429
+ "aabb": {
430
+ "center": [
431
+ 194.8563780784607,
432
+ -40.36479949951172,
433
+ 62.49999237060547
434
+ ],
435
+ "extent": [
436
+ 5.143621921539307,
437
+ 232.9352569580078,
438
+ 47.5
439
+ ]
440
+ },
441
+ "obb": {
442
+ "center": [
443
+ 194.8563780784607,
444
+ -40.36479949951172,
445
+ 62.49999237060547
446
+ ],
447
+ "extent": [
448
+ 5.143621921539307,
449
+ 232.9352569580078,
450
+ 47.5
451
+ ],
452
+ "rotation": [
453
+ 0,
454
+ 0,
455
+ 0
456
+ ]
457
+ },
458
+ "location": [
459
+ 200,
460
+ -40.36479949951172,
461
+ 15
462
+ ],
463
+ "rotation": [
464
+ 0,
465
+ 0,
466
+ 0
467
+ ],
468
+ "scale": [
469
+ 1,
470
+ 1,
471
+ 1
472
+ ]
473
+ },
474
+ "color": [
475
+ 255,
476
+ 63,
477
+ 255
478
+ ]
479
+ }
480
+ ],
481
+ "partition": [
482
+ {
483
+ "object_id": "SM_PartitionA",
484
+ "bbox_2d": [
485
+ 1318,
486
+ 0,
487
+ 1576,
488
+ 1079
489
+ ],
490
+ "bbox_3d": {
491
+ "aabb": {
492
+ "center": [
493
+ 22.016599655151367,
494
+ 193.6980038881302,
495
+ 127.42579746246338
496
+ ],
497
+ "extent": [
498
+ 41.49184036254883,
499
+ 1.18369460105896,
500
+ 112.56279754638672
501
+ ]
502
+ },
503
+ "obb": {
504
+ "center": [
505
+ 22.016599655151367,
506
+ 193.6980038881302,
507
+ 127.42579746246338
508
+ ],
509
+ "extent": [
510
+ 41.49184036254883,
511
+ 1.18369460105896,
512
+ 112.56279754638672
513
+ ],
514
+ "rotation": [
515
+ 0,
516
+ 0,
517
+ 0
518
+ ]
519
+ },
520
+ "location": [
521
+ 22.016599655151367,
522
+ 193.697998046875,
523
+ 14.86299991607666
524
+ ],
525
+ "rotation": [
526
+ 0,
527
+ 0,
528
+ 0
529
+ ],
530
+ "scale": [
531
+ 1,
532
+ 1,
533
+ 1
534
+ ]
535
+ },
536
+ "color": [
537
+ 127,
538
+ 0,
539
+ 0
540
+ ]
541
+ },
542
+ {
543
+ "object_id": "SM_PartitionB",
544
+ "bbox_2d": [
545
+ 1870,
546
+ 0,
547
+ 1919,
548
+ 932
549
+ ],
550
+ "bbox_3d": {
551
+ "aabb": {
552
+ "center": [
553
+ 94.53710222244263,
554
+ 405.30000291611196,
555
+ 130.12950134277278
556
+ ],
557
+ "extent": [
558
+ 7.500146865844727,
559
+ 58.00030501750513,
560
+ 130.00008643502278
561
+ ]
562
+ },
563
+ "obb": {
564
+ "center": [
565
+ 94.53710222244263,
566
+ 405.30000291611196,
567
+ 130.12950134277278
568
+ ],
569
+ "extent": [
570
+ 7.500146865844727,
571
+ 58.00030501750513,
572
+ 130.00008643502278
573
+ ],
574
+ "rotation": [
575
+ 0,
576
+ 0,
577
+ 1.0017900422099046e-05
578
+ ]
579
+ },
580
+ "location": [
581
+ 94.53710174560547,
582
+ 405.29998779296875,
583
+ 0
584
+ ],
585
+ "rotation": [
586
+ 0,
587
+ 0,
588
+ 1.0017900422099046e-05
589
+ ],
590
+ "scale": [
591
+ 1,
592
+ 1,
593
+ 1
594
+ ]
595
+ },
596
+ "color": [
597
+ 127,
598
+ 191,
599
+ 0
600
+ ]
601
+ }
602
+ ]
603
+ },
604
+ "foreground": {
605
+ "bedside table": [
606
+ {
607
+ "object_id": "SM_BedsideTable",
608
+ "bbox_2d": [
609
+ 1000,
610
+ 688,
611
+ 1217,
612
+ 760
613
+ ],
614
+ "bbox_3d": {
615
+ "aabb": {
616
+ "center": [
617
+ 167.6009979248047,
618
+ 162.75100708007812,
619
+ 37.3790979385376
620
+ ],
621
+ "extent": [
622
+ 22.5,
623
+ 38.53583908081055,
624
+ 7.5
625
+ ]
626
+ },
627
+ "obb": {
628
+ "center": [
629
+ 167.6009979248047,
630
+ 162.75100708007812,
631
+ 37.3790979385376
632
+ ],
633
+ "extent": [
634
+ 22.5,
635
+ 38.53583908081055,
636
+ 7.5
637
+ ],
638
+ "rotation": [
639
+ 0,
640
+ 0,
641
+ 0
642
+ ]
643
+ },
644
+ "location": [
645
+ 190.1009979248047,
646
+ 162.75100708007812,
647
+ 29.879100799560547
648
+ ],
649
+ "rotation": [
650
+ 0,
651
+ 0,
652
+ 0
653
+ ],
654
+ "scale": [
655
+ 1,
656
+ 1,
657
+ 1
658
+ ]
659
+ },
660
+ "color": [
661
+ 127,
662
+ 0,
663
+ 127
664
+ ]
665
+ }
666
+ ],
667
+ "table": [
668
+ {
669
+ "object_id": "SM_TableC",
670
+ "bbox_2d": [
671
+ 1577,
672
+ 660,
673
+ 1919,
674
+ 1079
675
+ ],
676
+ "bbox_3d": {
677
+ "aabb": {
678
+ "center": [
679
+ -9.646620750427246,
680
+ 219.05599975585938,
681
+ 40.0767922103405
682
+ ],
683
+ "extent": [
684
+ 20.747682571411133,
685
+ 24.091129302978516,
686
+ 39.9232292175293
687
+ ]
688
+ },
689
+ "obb": {
690
+ "center": [
691
+ -9.646620750427246,
692
+ 219.05599975585938,
693
+ 40.0767922103405
694
+ ],
695
+ "extent": [
696
+ 20.747682571411133,
697
+ 24.091129302978516,
698
+ 39.9232292175293
699
+ ],
700
+ "rotation": [
701
+ 0,
702
+ 0,
703
+ 0
704
+ ]
705
+ },
706
+ "location": [
707
+ -9.64663028717041,
708
+ 219.05599975585938,
709
+ 0.153562992811203
710
+ ],
711
+ "rotation": [
712
+ 0,
713
+ 0,
714
+ 0
715
+ ],
716
+ "scale": [
717
+ 1,
718
+ 1,
719
+ 1
720
+ ]
721
+ },
722
+ "color": [
723
+ 0,
724
+ 63,
725
+ 0
726
+ ]
727
+ }
728
+ ],
729
+ "tray": [
730
+ {
731
+ "object_id": "SM_TrayB",
732
+ "bbox_2d": [
733
+ 1577,
734
+ 619,
735
+ 1919,
736
+ 669
737
+ ],
738
+ "bbox_3d": {
739
+ "aabb": {
740
+ "center": [
741
+ -9.585789680480957,
742
+ 218.9920139312744,
743
+ 81.9322018623352
744
+ ],
745
+ "extent": [
746
+ 16.101682662963867,
747
+ 21.959720611572266,
748
+ 1.9322013854980469
749
+ ]
750
+ },
751
+ "obb": {
752
+ "center": [
753
+ -9.585789680480957,
754
+ 218.9920139312744,
755
+ 81.9322018623352
756
+ ],
757
+ "extent": [
758
+ 16.101682662963867,
759
+ 21.959720611572266,
760
+ 1.9322013854980469
761
+ ],
762
+ "rotation": [
763
+ 0,
764
+ 0,
765
+ 0
766
+ ]
767
+ },
768
+ "location": [
769
+ -9.585789680480957,
770
+ 218.99200439453125,
771
+ 80
772
+ ],
773
+ "rotation": [
774
+ 0,
775
+ 0,
776
+ 0
777
+ ],
778
+ "scale": [
779
+ 1,
780
+ 1,
781
+ 1
782
+ ]
783
+ },
784
+ "color": [
785
+ 0,
786
+ 63,
787
+ 255
788
+ ]
789
+ }
790
+ ],
791
+ "wash basin": [
792
+ {
793
+ "object_id": "SM_Washbasin",
794
+ "bbox_2d": [
795
+ 1304,
796
+ 610,
797
+ 1621,
798
+ 1079
799
+ ],
800
+ "bbox_3d": {
801
+ "aabb": {
802
+ "center": [
803
+ 95.55049896240234,
804
+ 219.06398582458496,
805
+ 48.390872192384904
806
+ ],
807
+ "extent": [
808
+ 84.44947814941406,
809
+ 24.235950469970703,
810
+ 48.390869140625
811
+ ]
812
+ },
813
+ "obb": {
814
+ "center": [
815
+ 95.55049896240234,
816
+ 219.06398582458496,
817
+ 48.390872192384904
818
+ ],
819
+ "extent": [
820
+ 84.44947814941406,
821
+ 24.235950469970703,
822
+ 48.390869140625
823
+ ],
824
+ "rotation": [
825
+ 0,
826
+ 0,
827
+ 0
828
+ ]
829
+ },
830
+ "location": [
831
+ 95.55049896240234,
832
+ 219.06399536132812,
833
+ 3.051759904337814e-06
834
+ ],
835
+ "rotation": [
836
+ 0,
837
+ 0,
838
+ 0
839
+ ],
840
+ "scale": [
841
+ 1,
842
+ 1,
843
+ 1
844
+ ]
845
+ },
846
+ "color": [
847
+ 255,
848
+ 63,
849
+ 0
850
+ ]
851
+ }
852
+ ],
853
+ "bedside lamp": [
854
+ {
855
+ "object_id": "SM_BedsideLampA",
856
+ "bbox_2d": [
857
+ 334,
858
+ 8,
859
+ 409,
860
+ 548
861
+ ],
862
+ "bbox_3d": {
863
+ "aabb": {
864
+ "center": [
865
+ 164.072998046875,
866
+ -71.39650249481201,
867
+ 189.79373931884766
868
+ ],
869
+ "extent": [
870
+ 10.348075866699219,
871
+ 10.34686279296875,
872
+ 96.69283294677734
873
+ ]
874
+ },
875
+ "obb": {
876
+ "center": [
877
+ 164.072998046875,
878
+ -71.39650249481201,
879
+ 189.79373931884766
880
+ ],
881
+ "extent": [
882
+ 10.348075866699219,
883
+ 10.34686279296875,
884
+ 96.69283294677734
885
+ ],
886
+ "rotation": [
887
+ 0,
888
+ 0,
889
+ 0
890
+ ]
891
+ },
892
+ "location": [
893
+ 164.072998046875,
894
+ -71.39649963378906,
895
+ 265
896
+ ],
897
+ "rotation": [
898
+ 0,
899
+ 0,
900
+ 0
901
+ ],
902
+ "scale": [
903
+ 1,
904
+ 1,
905
+ 1
906
+ ]
907
+ },
908
+ "color": [
909
+ 255,
910
+ 63,
911
+ 127
912
+ ]
913
+ },
914
+ {
915
+ "object_id": "SM_BedsideLampB",
916
+ "bbox_2d": [
917
+ 1067,
918
+ 545,
919
+ 1110,
920
+ 598
921
+ ],
922
+ "bbox_3d": {
923
+ "aabb": {
924
+ "center": [
925
+ 181.28752517700195,
926
+ 159.66537804278178,
927
+ 85.31887861472133
928
+ ],
929
+ "extent": [
930
+ 10.781476974487305,
931
+ 8.440744055382112,
932
+ 8.93765120269208
933
+ ]
934
+ },
935
+ "obb": {
936
+ "center": [
937
+ 181.28752517700195,
938
+ 159.66537804278178,
939
+ 85.31887861472133
940
+ ],
941
+ "extent": [
942
+ 10.781476974487305,
943
+ 8.440744055382112,
944
+ 8.93765120269208
945
+ ],
946
+ "rotation": [
947
+ 0,
948
+ 0,
949
+ 1.0017900422099046e-05
950
+ ]
951
+ },
952
+ "location": [
953
+ 192.06900024414062,
954
+ 162.18699645996094,
955
+ 88.33740234375
956
+ ],
957
+ "rotation": [
958
+ 0,
959
+ 0,
960
+ 1.0017900422099046e-05
961
+ ],
962
+ "scale": [
963
+ 1,
964
+ 1,
965
+ 1
966
+ ]
967
+ },
968
+ "color": [
969
+ 127,
970
+ 63,
971
+ 127
972
+ ]
973
+ }
974
+ ],
975
+ "air conditioning": [
976
+ {
977
+ "object_id": "SM_AirConditioningA",
978
+ "bbox_2d": [
979
+ 1203,
980
+ 0,
981
+ 1243,
982
+ 74
983
+ ],
984
+ "bbox_3d": {
985
+ "aabb": {
986
+ "center": [
987
+ 10.882030487060547,
988
+ 193.0000071823597,
989
+ 251.44998836517334
990
+ ],
991
+ "extent": [
992
+ 150.00003051757812,
993
+ 0.30008038878440857,
994
+ 8.791104316711426
995
+ ]
996
+ },
997
+ "obb": {
998
+ "center": [
999
+ 10.882030487060547,
1000
+ 193.0000071823597,
1001
+ 251.44998836517334
1002
+ ],
1003
+ "extent": [
1004
+ 150.00003051757812,
1005
+ 0.30008038878440857,
1006
+ 8.791104316711426
1007
+ ],
1008
+ "rotation": [
1009
+ 0,
1010
+ 0,
1011
+ 0
1012
+ ]
1013
+ },
1014
+ "location": [
1015
+ 10.881999969482422,
1016
+ 193.3000030517578,
1017
+ 251.4499969482422
1018
+ ],
1019
+ "rotation": [
1020
+ 0,
1021
+ 0,
1022
+ 0
1023
+ ],
1024
+ "scale": [
1025
+ 1,
1026
+ 1,
1027
+ 1
1028
+ ]
1029
+ },
1030
+ "color": [
1031
+ 63,
1032
+ 127,
1033
+ 63
1034
+ ]
1035
+ }
1036
+ ],
1037
+ "towel": [
1038
+ {
1039
+ "object_id": "SM_TowelB",
1040
+ "bbox_2d": [
1041
+ 1765,
1042
+ 983,
1043
+ 1919,
1044
+ 1035
1045
+ ],
1046
+ "bbox_3d": {
1047
+ "aabb": {
1048
+ "center": [
1049
+ -9.939256668092156,
1050
+ 229.15699005126902,
1051
+ 37.04300022125244
1052
+ ],
1053
+ "extent": [
1054
+ 14.07720446878406,
1055
+ 9.561871128935792,
1056
+ 2.555481195449829
1057
+ ]
1058
+ },
1059
+ "obb": {
1060
+ "center": [
1061
+ -9.939256668092156,
1062
+ 229.15699005126902,
1063
+ 37.04300022125244
1064
+ ],
1065
+ "extent": [
1066
+ 14.07720446878406,
1067
+ 9.561871128935792,
1068
+ 2.555481195449829
1069
+ ],
1070
+ "rotation": [
1071
+ 0,
1072
+ -1.0017900422099046e-05,
1073
+ 0
1074
+ ]
1075
+ },
1076
+ "location": [
1077
+ -9.93925952911377,
1078
+ 229.15699768066406,
1079
+ 37.042999267578125
1080
+ ],
1081
+ "rotation": [
1082
+ 0,
1083
+ -1.0017900422099046e-05,
1084
+ 0
1085
+ ],
1086
+ "scale": [
1087
+ 1,
1088
+ 1,
1089
+ 1
1090
+ ]
1091
+ },
1092
+ "color": [
1093
+ 0,
1094
+ 127,
1095
+ 191
1096
+ ]
1097
+ },
1098
+ {
1099
+ "object_id": "SM_TowelA",
1100
+ "bbox_2d": [
1101
+ 1774,
1102
+ 594,
1103
+ 1919,
1104
+ 638
1105
+ ],
1106
+ "bbox_3d": {
1107
+ "aabb": {
1108
+ "center": [
1109
+ -12.525300025939607,
1110
+ 234.2050142288208,
1111
+ 85.49699974060059
1112
+ ],
1113
+ "extent": [
1114
+ 9.230227010771447,
1115
+ 3.149841785430908,
1116
+ 2.825629894501759
1117
+ ]
1118
+ },
1119
+ "obb": {
1120
+ "center": [
1121
+ -12.525300025939607,
1122
+ 234.2050142288208,
1123
+ 85.49699974060059
1124
+ ],
1125
+ "extent": [
1126
+ 9.230227010771447,
1127
+ 3.149841785430908,
1128
+ 2.825629894501759
1129
+ ],
1130
+ "rotation": [
1131
+ 1.0017900422099046e-05,
1132
+ 0,
1133
+ 0
1134
+ ]
1135
+ },
1136
+ "location": [
1137
+ -12.525300025939941,
1138
+ 234.2050018310547,
1139
+ 85.49700164794922
1140
+ ],
1141
+ "rotation": [
1142
+ 1.0017900422099046e-05,
1143
+ 0,
1144
+ 0
1145
+ ],
1146
+ "scale": [
1147
+ 1,
1148
+ 1,
1149
+ 1
1150
+ ]
1151
+ },
1152
+ "color": [
1153
+ 0,
1154
+ 63,
1155
+ 191
1156
+ ]
1157
+ }
1158
+ ],
1159
+ "bed": [
1160
+ {
1161
+ "object_id": "SM_Bedc",
1162
+ "bbox_2d": [
1163
+ 118,
1164
+ 637,
1165
+ 1050,
1166
+ 885
1167
+ ],
1168
+ "bbox_3d": {
1169
+ "aabb": {
1170
+ "center": [
1171
+ 42.59486770629883,
1172
+ 46.127655029296875,
1173
+ 55.7503662109375
1174
+ ],
1175
+ "extent": [
1176
+ 21.761241912841797,
1177
+ 86.27418518066406,
1178
+ 20.23805046081543
1179
+ ]
1180
+ },
1181
+ "obb": {
1182
+ "center": [
1183
+ 42.59486770629883,
1184
+ 46.127655029296875,
1185
+ 55.7503662109375
1186
+ ],
1187
+ "extent": [
1188
+ 21.761241912841797,
1189
+ 86.27418518066406,
1190
+ 20.23805046081543
1191
+ ],
1192
+ "rotation": [
1193
+ 0,
1194
+ 0,
1195
+ 0
1196
+ ]
1197
+ },
1198
+ "location": [
1199
+ 92.09200286865234,
1200
+ 45.683799743652344,
1201
+ 15
1202
+ ],
1203
+ "rotation": [
1204
+ 0,
1205
+ 0,
1206
+ 0
1207
+ ],
1208
+ "scale": [
1209
+ 1,
1210
+ 1,
1211
+ 1
1212
+ ]
1213
+ },
1214
+ "color": [
1215
+ 127,
1216
+ 191,
1217
+ 63
1218
+ ]
1219
+ },
1220
+ {
1221
+ "object_id": "SM_Bedb",
1222
+ "bbox_2d": [
1223
+ 0,
1224
+ 613,
1225
+ 1121,
1226
+ 1079
1227
+ ],
1228
+ "bbox_3d": {
1229
+ "aabb": {
1230
+ "center": [
1231
+ 48.03324890136719,
1232
+ 46.497535705566406,
1233
+ 45.92771911621094
1234
+ ],
1235
+ "extent": [
1236
+ 82.77275848388672,
1237
+ 94.72562408447266,
1238
+ 31.081745147705078
1239
+ ]
1240
+ },
1241
+ "obb": {
1242
+ "center": [
1243
+ 48.03324890136719,
1244
+ 46.497535705566406,
1245
+ 45.92771911621094
1246
+ ],
1247
+ "extent": [
1248
+ 82.77275848388672,
1249
+ 94.72562408447266,
1250
+ 31.081745147705078
1251
+ ],
1252
+ "rotation": [
1253
+ 0,
1254
+ 0,
1255
+ 0
1256
+ ]
1257
+ },
1258
+ "location": [
1259
+ 92.09200286865234,
1260
+ 45.683799743652344,
1261
+ 15
1262
+ ],
1263
+ "rotation": [
1264
+ 0,
1265
+ 0,
1266
+ 0
1267
+ ],
1268
+ "scale": [
1269
+ 1,
1270
+ 1,
1271
+ 1
1272
+ ]
1273
+ },
1274
+ "color": [
1275
+ 63,
1276
+ 191,
1277
+ 127
1278
+ ]
1279
+ }
1280
+ ],
1281
+ "pillow": [
1282
+ {
1283
+ "object_id": "SM_PillowA",
1284
+ "bbox_2d": [
1285
+ 898,
1286
+ 603,
1287
+ 906,
1288
+ 619
1289
+ ],
1290
+ "bbox_3d": {
1291
+ "aabb": {
1292
+ "center": [
1293
+ 183.61700248718262,
1294
+ 44.53629684448242,
1295
+ 68.39539909362793
1296
+ ],
1297
+ "extent": [
1298
+ 7.069190502166748,
1299
+ 53.396400451660156,
1300
+ 8.051918983459473
1301
+ ]
1302
+ },
1303
+ "obb": {
1304
+ "center": [
1305
+ 183.61700248718262,
1306
+ 44.53629684448242,
1307
+ 68.39539909362793
1308
+ ],
1309
+ "extent": [
1310
+ 7.069190502166748,
1311
+ 53.396400451660156,
1312
+ 8.051918983459473
1313
+ ],
1314
+ "rotation": [
1315
+ 0,
1316
+ 0,
1317
+ 0
1318
+ ]
1319
+ },
1320
+ "location": [
1321
+ 183.61700439453125,
1322
+ 44.53630065917969,
1323
+ 68.39540100097656
1324
+ ],
1325
+ "rotation": [
1326
+ 0,
1327
+ 0,
1328
+ 0
1329
+ ],
1330
+ "scale": [
1331
+ 1,
1332
+ 1,
1333
+ 1
1334
+ ]
1335
+ },
1336
+ "color": [
1337
+ 63,
1338
+ 191,
1339
+ 0
1340
+ ]
1341
+ },
1342
+ {
1343
+ "object_id": "SM_PillowB",
1344
+ "bbox_2d": [
1345
+ 600,
1346
+ 522,
1347
+ 907,
1348
+ 618
1349
+ ],
1350
+ "bbox_3d": {
1351
+ "aabb": {
1352
+ "center": [
1353
+ 174.71600341796875,
1354
+ 47.130794525146484,
1355
+ 82.11799240112305
1356
+ ],
1357
+ "extent": [
1358
+ 14.708823204040527,
1359
+ 54.53270721435547,
1360
+ 20.160995483398438
1361
+ ]
1362
+ },
1363
+ "obb": {
1364
+ "center": [
1365
+ 174.71600341796875,
1366
+ 47.130794525146484,
1367
+ 82.11799240112305
1368
+ ],
1369
+ "extent": [
1370
+ 14.708823204040527,
1371
+ 54.53270721435547,
1372
+ 20.160995483398438
1373
+ ],
1374
+ "rotation": [
1375
+ 0,
1376
+ 0,
1377
+ 0
1378
+ ]
1379
+ },
1380
+ "location": [
1381
+ 174.71600341796875,
1382
+ 47.13079833984375,
1383
+ 82.11799621582031
1384
+ ],
1385
+ "rotation": [
1386
+ 0,
1387
+ 0,
1388
+ 0
1389
+ ],
1390
+ "scale": [
1391
+ 1,
1392
+ 1,
1393
+ 1
1394
+ ]
1395
+ },
1396
+ "color": [
1397
+ 63,
1398
+ 191,
1399
+ 63
1400
+ ]
1401
+ },
1402
+ {
1403
+ "object_id": "SM_PillowC",
1404
+ "bbox_2d": [
1405
+ 572,
1406
+ 542,
1407
+ 899,
1408
+ 617
1409
+ ],
1410
+ "bbox_3d": {
1411
+ "aabb": {
1412
+ "center": [
1413
+ 153.91199588775635,
1414
+ 45.196502685546875,
1415
+ 79.50050163269043
1416
+ ],
1417
+ "extent": [
1418
+ 11.88922119140625,
1419
+ 52.05424499511719,
1420
+ 15.85400390625
1421
+ ]
1422
+ },
1423
+ "obb": {
1424
+ "center": [
1425
+ 153.91199588775635,
1426
+ 45.196502685546875,
1427
+ 79.50050163269043
1428
+ ],
1429
+ "extent": [
1430
+ 11.88922119140625,
1431
+ 52.05424499511719,
1432
+ 15.85400390625
1433
+ ],
1434
+ "rotation": [
1435
+ 0,
1436
+ 0,
1437
+ 0
1438
+ ]
1439
+ },
1440
+ "location": [
1441
+ 153.91200256347656,
1442
+ 45.19649887084961,
1443
+ 79.50050354003906
1444
+ ],
1445
+ "rotation": [
1446
+ 0,
1447
+ 0,
1448
+ 0
1449
+ ],
1450
+ "scale": [
1451
+ 1,
1452
+ 1,
1453
+ 1
1454
+ ]
1455
+ },
1456
+ "color": [
1457
+ 0,
1458
+ 191,
1459
+ 191
1460
+ ]
1461
+ }
1462
+ ]
1463
+ }
1464
+ }
scenes/annotations/HotelRoomVol1/l009_r002/scene_annotations_split.json ADDED
@@ -0,0 +1,2080 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l009_r002",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l009_r002/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 158,
8
+ -115,
9
+ 118
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
+ 158,
38
+ -115,
39
+ 118,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 214,
58
+ 0,
59
+ 1919,
60
+ 349
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "background wall": [
116
+ {
117
+ "object_id": "SM_BackgroundwallC",
118
+ "bbox_2d": [
119
+ 0,
120
+ 0,
121
+ 694,
122
+ 796
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 138.97036743164062,
128
+ -39.36470031738281,
129
+ 127.49999237060547
130
+ ],
131
+ "extent": [
132
+ 61.02964782714844,
133
+ 233.93521118164062,
134
+ 112.5
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 138.97036743164062,
140
+ -39.36470031738281,
141
+ 127.49999237060547
142
+ ],
143
+ "extent": [
144
+ 61.02964782714844,
145
+ 233.93521118164062,
146
+ 112.5
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 200,
156
+ -39.36470031738281,
157
+ 15
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
+ 127,
173
+ 255
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_BackgroundwallA",
178
+ "bbox_2d": [
179
+ 0,
180
+ 571,
181
+ 264,
182
+ 1046
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 194.8563780784607,
188
+ -40.36479949951172,
189
+ 62.49999237060547
190
+ ],
191
+ "extent": [
192
+ 5.143621921539307,
193
+ 232.9352569580078,
194
+ 47.5
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 194.8563780784607,
200
+ -40.36479949951172,
201
+ 62.49999237060547
202
+ ],
203
+ "extent": [
204
+ 5.143621921539307,
205
+ 232.9352569580078,
206
+ 47.5
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 200,
216
+ -40.36479949951172,
217
+ 15
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
+ 63,
233
+ 255
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_BackgroundwallB",
238
+ "bbox_2d": [
239
+ 1092,
240
+ 307,
241
+ 1191,
242
+ 609
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ -199,
248
+ 273.2999954223633,
249
+ 179.92100524902344
250
+ ],
251
+ "extent": [
252
+ 1,
253
+ 70,
254
+ 99.92121887207031
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ -199,
260
+ 273.2999954223633,
261
+ 179.92100524902344
262
+ ],
263
+ "extent": [
264
+ 1,
265
+ 70,
266
+ 99.92121887207031
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ -200,
276
+ 273.29998779296875,
277
+ 179.92100524902344
278
+ ],
279
+ "rotation": [
280
+ 0,
281
+ 0,
282
+ 0
283
+ ],
284
+ "scale": [
285
+ 1,
286
+ 1,
287
+ 1
288
+ ]
289
+ },
290
+ "color": [
291
+ 63,
292
+ 255,
293
+ 191
294
+ ]
295
+ }
296
+ ],
297
+ "partition": [
298
+ {
299
+ "object_id": "SM_PartitionA",
300
+ "bbox_2d": [
301
+ 738,
302
+ 167,
303
+ 959,
304
+ 733
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 22.016599655151367,
310
+ 193.6980038881302,
311
+ 127.42579746246338
312
+ ],
313
+ "extent": [
314
+ 41.49184036254883,
315
+ 1.18369460105896,
316
+ 112.56279754638672
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 22.016599655151367,
322
+ 193.6980038881302,
323
+ 127.42579746246338
324
+ ],
325
+ "extent": [
326
+ 41.49184036254883,
327
+ 1.18369460105896,
328
+ 112.56279754638672
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 22.016599655151367,
338
+ 193.697998046875,
339
+ 14.86299991607666
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
+ 0
356
+ ]
357
+ }
358
+ ],
359
+ "wall": [
360
+ {
361
+ "object_id": "SM_WallA",
362
+ "bbox_2d": [
363
+ 1296,
364
+ 2,
365
+ 1919,
366
+ 269
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ -210,
372
+ -10,
373
+ 140.00003051757812
374
+ ],
375
+ "extent": [
376
+ 10,
377
+ 473.3000183105469,
378
+ 140.00003051757812
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ -210,
384
+ -10,
385
+ 140.00003051757812
386
+ ],
387
+ "extent": [
388
+ 10,
389
+ 473.3000183105469,
390
+ 140.00003051757812
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ -210,
400
+ -10,
401
+ 0
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
+ 127,
417
+ 127
418
+ ]
419
+ },
420
+ {
421
+ "object_id": "SM_WallD",
422
+ "bbox_2d": [
423
+ 1192,
424
+ 260,
425
+ 1281,
426
+ 781
427
+ ],
428
+ "bbox_3d": {
429
+ "aabb": {
430
+ "center": [
431
+ -119,
432
+ 338.29998779296875,
433
+ 140.00003051757812
434
+ ],
435
+ "extent": [
436
+ 101,
437
+ 145,
438
+ 140.00003051757812
439
+ ]
440
+ },
441
+ "obb": {
442
+ "center": [
443
+ -119,
444
+ 338.29998779296875,
445
+ 140.00003051757812
446
+ ],
447
+ "extent": [
448
+ 101,
449
+ 145,
450
+ 140.00003051757812
451
+ ],
452
+ "rotation": [
453
+ 0,
454
+ 0,
455
+ 0
456
+ ]
457
+ },
458
+ "location": [
459
+ -119,
460
+ 338.29998779296875,
461
+ 0
462
+ ],
463
+ "rotation": [
464
+ 0,
465
+ 0,
466
+ 0
467
+ ],
468
+ "scale": [
469
+ 1,
470
+ 1,
471
+ 1
472
+ ]
473
+ },
474
+ "color": [
475
+ 0,
476
+ 0,
477
+ 63
478
+ ]
479
+ },
480
+ {
481
+ "object_id": "SM_WallE",
482
+ "bbox_2d": [
483
+ 736,
484
+ 290,
485
+ 737,
486
+ 639
487
+ ],
488
+ "bbox_3d": {
489
+ "aabb": {
490
+ "center": [
491
+ 101,
492
+ 338.79998779296875,
493
+ 140.00003051757812
494
+ ],
495
+ "extent": [
496
+ 119,
497
+ 144.5,
498
+ 140.00003051757812
499
+ ]
500
+ },
501
+ "obb": {
502
+ "center": [
503
+ 101,
504
+ 338.79998779296875,
505
+ 140.00003051757812
506
+ ],
507
+ "extent": [
508
+ 119,
509
+ 144.5,
510
+ 140.00003051757812
511
+ ],
512
+ "rotation": [
513
+ 0,
514
+ 0,
515
+ 0
516
+ ]
517
+ },
518
+ "location": [
519
+ 101,
520
+ 338.79998779296875,
521
+ 0
522
+ ],
523
+ "rotation": [
524
+ 0,
525
+ 0,
526
+ 0
527
+ ],
528
+ "scale": [
529
+ 1,
530
+ 1,
531
+ 1
532
+ ]
533
+ },
534
+ "color": [
535
+ 255,
536
+ 127,
537
+ 63
538
+ ]
539
+ }
540
+ ],
541
+ "floor": [
542
+ {
543
+ "object_id": "SM_FloorB",
544
+ "bbox_2d": [
545
+ 1525,
546
+ 869,
547
+ 1919,
548
+ 1079
549
+ ],
550
+ "bbox_3d": {
551
+ "aabb": {
552
+ "center": [
553
+ 0,
554
+ -134.5,
555
+ -5
556
+ ],
557
+ "extent": [
558
+ 220,
559
+ 328.8000183105469,
560
+ 5
561
+ ]
562
+ },
563
+ "obb": {
564
+ "center": [
565
+ 0,
566
+ -134.5,
567
+ -5
568
+ ],
569
+ "extent": [
570
+ 220,
571
+ 328.8000183105469,
572
+ 5
573
+ ],
574
+ "rotation": [
575
+ 0,
576
+ 0,
577
+ 0
578
+ ]
579
+ },
580
+ "location": [
581
+ 0,
582
+ -134.5,
583
+ 0
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
+ 255,
599
+ 63
600
+ ]
601
+ }
602
+ ],
603
+ "door": [
604
+ {
605
+ "object_id": "SM_DoorB",
606
+ "bbox_2d": [
607
+ 695,
608
+ 286,
609
+ 725,
610
+ 641
611
+ ],
612
+ "bbox_3d": {
613
+ "aabb": {
614
+ "center": [
615
+ 53.4721565246582,
616
+ 348.2986726760864,
617
+ 121.12959289550781
618
+ ],
619
+ "extent": [
620
+ 33.56492233276367,
621
+ 9.604825019836426,
622
+ 118.99999237060547
623
+ ]
624
+ },
625
+ "obb": {
626
+ "center": [
627
+ 53.4721565246582,
628
+ 348.2986726760864,
629
+ 121.12959289550781
630
+ ],
631
+ "extent": [
632
+ 33.56492233276367,
633
+ 9.604825019836426,
634
+ 118.99999237060547
635
+ ],
636
+ "rotation": [
637
+ 0,
638
+ 0,
639
+ 0
640
+ ]
641
+ },
642
+ "location": [
643
+ 84.53700256347656,
644
+ 347.7980041503906,
645
+ 0
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
+ 191,
661
+ 255
662
+ ]
663
+ }
664
+ ]
665
+ },
666
+ "foreground": {
667
+ "wardrobe": [
668
+ {
669
+ "object_id": "SM_Wardrobe",
670
+ "bbox_2d": [
671
+ 960,
672
+ 327,
673
+ 1091,
674
+ 717
675
+ ],
676
+ "bbox_3d": {
677
+ "aabb": {
678
+ "center": [
679
+ -175,
680
+ 403.299991607666,
681
+ 120
682
+ ],
683
+ "extent": [
684
+ 25,
685
+ 60.000003814697266,
686
+ 120
687
+ ]
688
+ },
689
+ "obb": {
690
+ "center": [
691
+ -175,
692
+ 403.299991607666,
693
+ 120
694
+ ],
695
+ "extent": [
696
+ 25,
697
+ 60.000003814697266,
698
+ 120
699
+ ],
700
+ "rotation": [
701
+ 0,
702
+ 0,
703
+ 0
704
+ ]
705
+ },
706
+ "location": [
707
+ -200,
708
+ 403.29998779296875,
709
+ 0
710
+ ],
711
+ "rotation": [
712
+ 0,
713
+ 0,
714
+ 0
715
+ ],
716
+ "scale": [
717
+ 1,
718
+ 1,
719
+ 1
720
+ ]
721
+ },
722
+ "color": [
723
+ 255,
724
+ 0,
725
+ 127
726
+ ]
727
+ }
728
+ ],
729
+ "cabinet": [
730
+ {
731
+ "object_id": "SM_CabinetA",
732
+ "bbox_2d": [
733
+ 1025,
734
+ 604,
735
+ 1191,
736
+ 755
737
+ ],
738
+ "bbox_3d": {
739
+ "aabb": {
740
+ "center": [
741
+ -175,
742
+ 273.2999954223633,
743
+ 40
744
+ ],
745
+ "extent": [
746
+ 25,
747
+ 69.99998474121094,
748
+ 40
749
+ ]
750
+ },
751
+ "obb": {
752
+ "center": [
753
+ -175,
754
+ 273.2999954223633,
755
+ 40
756
+ ],
757
+ "extent": [
758
+ 25,
759
+ 69.99998474121094,
760
+ 40
761
+ ],
762
+ "rotation": [
763
+ 0,
764
+ 0,
765
+ 0
766
+ ]
767
+ },
768
+ "location": [
769
+ -200,
770
+ 278.29998779296875,
771
+ 0
772
+ ],
773
+ "rotation": [
774
+ 0,
775
+ 0,
776
+ 0
777
+ ],
778
+ "scale": [
779
+ 1,
780
+ 1,
781
+ 1
782
+ ]
783
+ },
784
+ "color": [
785
+ 255,
786
+ 255,
787
+ 127
788
+ ]
789
+ }
790
+ ],
791
+ "drawer": [
792
+ {
793
+ "object_id": "SM_Drawer",
794
+ "bbox_2d": [
795
+ 1249,
796
+ 644,
797
+ 1919,
798
+ 810
799
+ ],
800
+ "bbox_3d": {
801
+ "aabb": {
802
+ "center": [
803
+ -185.02699279785156,
804
+ -53.120384216308594,
805
+ 60.19429588317871
806
+ ],
807
+ "extent": [
808
+ 15,
809
+ 246.42047119140625,
810
+ 10
811
+ ]
812
+ },
813
+ "obb": {
814
+ "center": [
815
+ -185.02699279785156,
816
+ -53.120384216308594,
817
+ 60.19429588317871
818
+ ],
819
+ "extent": [
820
+ 15,
821
+ 246.42047119140625,
822
+ 10
823
+ ],
824
+ "rotation": [
825
+ 0,
826
+ 0,
827
+ 0
828
+ ]
829
+ },
830
+ "location": [
831
+ -200.02699279785156,
832
+ -53.120399475097656,
833
+ 50.19430160522461
834
+ ],
835
+ "rotation": [
836
+ 0,
837
+ 0,
838
+ 0
839
+ ],
840
+ "scale": [
841
+ 1,
842
+ 1,
843
+ 1
844
+ ]
845
+ },
846
+ "color": [
847
+ 255,
848
+ 127,
849
+ 127
850
+ ]
851
+ }
852
+ ],
853
+ "tv background wall": [
854
+ {
855
+ "object_id": "SM_TVBackgroundwall",
856
+ "bbox_2d": [
857
+ 1280,
858
+ 80,
859
+ 1919,
860
+ 984
861
+ ],
862
+ "bbox_3d": {
863
+ "aabb": {
864
+ "center": [
865
+ -194.99996089935303,
866
+ -2.927030086517334,
867
+ 120.00000762939453
868
+ ],
869
+ "extent": [
870
+ 5.000057220458984,
871
+ 196.22706604003906,
872
+ 119.99999237060547
873
+ ]
874
+ },
875
+ "obb": {
876
+ "center": [
877
+ -194.99996089935303,
878
+ -2.927030086517334,
879
+ 120.00000762939453
880
+ ],
881
+ "extent": [
882
+ 5.000057220458984,
883
+ 196.22706604003906,
884
+ 119.99999237060547
885
+ ],
886
+ "rotation": [
887
+ 0,
888
+ 0,
889
+ 0
890
+ ]
891
+ },
892
+ "location": [
893
+ -200,
894
+ -2.927030086517334,
895
+ 0
896
+ ],
897
+ "rotation": [
898
+ 0,
899
+ 0,
900
+ 0
901
+ ],
902
+ "scale": [
903
+ 1,
904
+ 1,
905
+ 1
906
+ ]
907
+ },
908
+ "color": [
909
+ 127,
910
+ 255,
911
+ 0
912
+ ]
913
+ }
914
+ ],
915
+ "tv": [
916
+ {
917
+ "object_id": "SM_TV",
918
+ "bbox_2d": [
919
+ 1676,
920
+ 347,
921
+ 1919,
922
+ 694
923
+ ],
924
+ "bbox_3d": {
925
+ "aabb": {
926
+ "center": [
927
+ -191.59167134761813,
928
+ -58.649101053747344,
929
+ 122.68900299072266
930
+ ],
931
+ "extent": [
932
+ 1.164358076520415,
933
+ 93.73062917086345,
934
+ 46.75914001464844
935
+ ]
936
+ },
937
+ "obb": {
938
+ "center": [
939
+ -191.59167134761813,
940
+ -58.649101053747344,
941
+ 122.68900299072266
942
+ ],
943
+ "extent": [
944
+ 1.164358076520415,
945
+ 93.73062917086345,
946
+ 46.75914001464844
947
+ ],
948
+ "rotation": [
949
+ 0,
950
+ 1.0017900422099046e-05,
951
+ 0
952
+ ]
953
+ },
954
+ "location": [
955
+ -192.75599670410156,
956
+ -58.64910125732422,
957
+ 122.68900299072266
958
+ ],
959
+ "rotation": [
960
+ 0,
961
+ 1.0017900422099046e-05,
962
+ 0
963
+ ],
964
+ "scale": [
965
+ 1,
966
+ 1,
967
+ 1
968
+ ]
969
+ },
970
+ "color": [
971
+ 127,
972
+ 127,
973
+ 63
974
+ ]
975
+ }
976
+ ],
977
+ "table": [
978
+ {
979
+ "object_id": "SM_TableC",
980
+ "bbox_2d": [
981
+ 960,
982
+ 638,
983
+ 980,
984
+ 715
985
+ ],
986
+ "bbox_3d": {
987
+ "aabb": {
988
+ "center": [
989
+ -9.646620750427246,
990
+ 219.05599975585938,
991
+ 40.0767922103405
992
+ ],
993
+ "extent": [
994
+ 20.747682571411133,
995
+ 24.091129302978516,
996
+ 39.9232292175293
997
+ ]
998
+ },
999
+ "obb": {
1000
+ "center": [
1001
+ -9.646620750427246,
1002
+ 219.05599975585938,
1003
+ 40.0767922103405
1004
+ ],
1005
+ "extent": [
1006
+ 20.747682571411133,
1007
+ 24.091129302978516,
1008
+ 39.9232292175293
1009
+ ],
1010
+ "rotation": [
1011
+ 0,
1012
+ 0,
1013
+ 0
1014
+ ]
1015
+ },
1016
+ "location": [
1017
+ -9.64663028717041,
1018
+ 219.05599975585938,
1019
+ 0.153562992811203
1020
+ ],
1021
+ "rotation": [
1022
+ 0,
1023
+ 0,
1024
+ 0
1025
+ ],
1026
+ "scale": [
1027
+ 1,
1028
+ 1,
1029
+ 1
1030
+ ]
1031
+ },
1032
+ "color": [
1033
+ 0,
1034
+ 63,
1035
+ 0
1036
+ ]
1037
+ }
1038
+ ],
1039
+ "tray": [
1040
+ {
1041
+ "object_id": "SM_TrayB",
1042
+ "bbox_2d": [
1043
+ 960,
1044
+ 629,
1045
+ 967,
1046
+ 640
1047
+ ],
1048
+ "bbox_3d": {
1049
+ "aabb": {
1050
+ "center": [
1051
+ -9.585789680480957,
1052
+ 218.9920139312744,
1053
+ 81.9322018623352
1054
+ ],
1055
+ "extent": [
1056
+ 16.101682662963867,
1057
+ 21.959720611572266,
1058
+ 1.9322013854980469
1059
+ ]
1060
+ },
1061
+ "obb": {
1062
+ "center": [
1063
+ -9.585789680480957,
1064
+ 218.9920139312744,
1065
+ 81.9322018623352
1066
+ ],
1067
+ "extent": [
1068
+ 16.101682662963867,
1069
+ 21.959720611572266,
1070
+ 1.9322013854980469
1071
+ ],
1072
+ "rotation": [
1073
+ 0,
1074
+ 0,
1075
+ 0
1076
+ ]
1077
+ },
1078
+ "location": [
1079
+ -9.585789680480957,
1080
+ 218.99200439453125,
1081
+ 80
1082
+ ],
1083
+ "rotation": [
1084
+ 0,
1085
+ 0,
1086
+ 0
1087
+ ],
1088
+ "scale": [
1089
+ 1,
1090
+ 1,
1091
+ 1
1092
+ ]
1093
+ },
1094
+ "color": [
1095
+ 0,
1096
+ 63,
1097
+ 255
1098
+ ]
1099
+ },
1100
+ {
1101
+ "object_id": "SM_TrayA",
1102
+ "bbox_2d": [
1103
+ 1130,
1104
+ 607,
1105
+ 1191,
1106
+ 617
1107
+ ],
1108
+ "bbox_3d": {
1109
+ "aabb": {
1110
+ "center": [
1111
+ -173.95700073242188,
1112
+ 251.1869945526123,
1113
+ 81.51061451435089
1114
+ ],
1115
+ "extent": [
1116
+ 8.691320419311523,
1117
+ 18.694957733154297,
1118
+ 1.4992151260375977
1119
+ ]
1120
+ },
1121
+ "obb": {
1122
+ "center": [
1123
+ -173.95700073242188,
1124
+ 251.1869945526123,
1125
+ 81.51061451435089
1126
+ ],
1127
+ "extent": [
1128
+ 8.691320419311523,
1129
+ 18.694957733154297,
1130
+ 1.4992151260375977
1131
+ ],
1132
+ "rotation": [
1133
+ 0,
1134
+ 0,
1135
+ 0
1136
+ ]
1137
+ },
1138
+ "location": [
1139
+ -173.95700073242188,
1140
+ 251.18699645996094,
1141
+ 80.01139831542969
1142
+ ],
1143
+ "rotation": [
1144
+ 0,
1145
+ 0,
1146
+ 0
1147
+ ],
1148
+ "scale": [
1149
+ 1,
1150
+ 1,
1151
+ 1
1152
+ ]
1153
+ },
1154
+ "color": [
1155
+ 63,
1156
+ 63,
1157
+ 63
1158
+ ]
1159
+ }
1160
+ ],
1161
+ "wash basin": [
1162
+ {
1163
+ "object_id": "SM_Washbasin",
1164
+ "bbox_2d": [
1165
+ 695,
1166
+ 640,
1167
+ 737,
1168
+ 733
1169
+ ],
1170
+ "bbox_3d": {
1171
+ "aabb": {
1172
+ "center": [
1173
+ 95.55049896240234,
1174
+ 219.06398582458496,
1175
+ 48.390872192384904
1176
+ ],
1177
+ "extent": [
1178
+ 84.44947814941406,
1179
+ 24.235950469970703,
1180
+ 48.390869140625
1181
+ ]
1182
+ },
1183
+ "obb": {
1184
+ "center": [
1185
+ 95.55049896240234,
1186
+ 219.06398582458496,
1187
+ 48.390872192384904
1188
+ ],
1189
+ "extent": [
1190
+ 84.44947814941406,
1191
+ 24.235950469970703,
1192
+ 48.390869140625
1193
+ ],
1194
+ "rotation": [
1195
+ 0,
1196
+ 0,
1197
+ 0
1198
+ ]
1199
+ },
1200
+ "location": [
1201
+ 95.55049896240234,
1202
+ 219.06399536132812,
1203
+ 3.051759904337814e-06
1204
+ ],
1205
+ "rotation": [
1206
+ 0,
1207
+ 0,
1208
+ 0
1209
+ ],
1210
+ "scale": [
1211
+ 1,
1212
+ 1,
1213
+ 1
1214
+ ]
1215
+ },
1216
+ "color": [
1217
+ 255,
1218
+ 63,
1219
+ 0
1220
+ ]
1221
+ }
1222
+ ],
1223
+ "bedside lamp": [
1224
+ {
1225
+ "object_id": "SM_BedsideLampA",
1226
+ "bbox_2d": [
1227
+ 0,
1228
+ 0,
1229
+ 524,
1230
+ 1079
1231
+ ],
1232
+ "bbox_3d": {
1233
+ "aabb": {
1234
+ "center": [
1235
+ 164.072998046875,
1236
+ -71.39650249481201,
1237
+ 189.79373931884766
1238
+ ],
1239
+ "extent": [
1240
+ 10.348075866699219,
1241
+ 10.34686279296875,
1242
+ 96.69283294677734
1243
+ ]
1244
+ },
1245
+ "obb": {
1246
+ "center": [
1247
+ 164.072998046875,
1248
+ -71.39650249481201,
1249
+ 189.79373931884766
1250
+ ],
1251
+ "extent": [
1252
+ 10.348075866699219,
1253
+ 10.34686279296875,
1254
+ 96.69283294677734
1255
+ ],
1256
+ "rotation": [
1257
+ 0,
1258
+ 0,
1259
+ 0
1260
+ ]
1261
+ },
1262
+ "location": [
1263
+ 164.072998046875,
1264
+ -71.39649963378906,
1265
+ 265
1266
+ ],
1267
+ "rotation": [
1268
+ 0,
1269
+ 0,
1270
+ 0
1271
+ ],
1272
+ "scale": [
1273
+ 1,
1274
+ 1,
1275
+ 1
1276
+ ]
1277
+ },
1278
+ "color": [
1279
+ 255,
1280
+ 63,
1281
+ 127
1282
+ ]
1283
+ },
1284
+ {
1285
+ "object_id": "SM_BedsideLampB",
1286
+ "bbox_2d": [
1287
+ 251,
1288
+ 642,
1289
+ 344,
1290
+ 707
1291
+ ],
1292
+ "bbox_3d": {
1293
+ "aabb": {
1294
+ "center": [
1295
+ 181.28752517700195,
1296
+ 159.66537804278178,
1297
+ 85.31887861472133
1298
+ ],
1299
+ "extent": [
1300
+ 10.781476974487305,
1301
+ 8.440744055382112,
1302
+ 8.93765120269208
1303
+ ]
1304
+ },
1305
+ "obb": {
1306
+ "center": [
1307
+ 181.28752517700195,
1308
+ 159.66537804278178,
1309
+ 85.31887861472133
1310
+ ],
1311
+ "extent": [
1312
+ 10.781476974487305,
1313
+ 8.440744055382112,
1314
+ 8.93765120269208
1315
+ ],
1316
+ "rotation": [
1317
+ 0,
1318
+ 0,
1319
+ 1.0017900422099046e-05
1320
+ ]
1321
+ },
1322
+ "location": [
1323
+ 192.06900024414062,
1324
+ 162.18699645996094,
1325
+ 88.33740234375
1326
+ ],
1327
+ "rotation": [
1328
+ 0,
1329
+ 0,
1330
+ 1.0017900422099046e-05
1331
+ ],
1332
+ "scale": [
1333
+ 1,
1334
+ 1,
1335
+ 1
1336
+ ]
1337
+ },
1338
+ "color": [
1339
+ 127,
1340
+ 63,
1341
+ 127
1342
+ ]
1343
+ }
1344
+ ],
1345
+ "air conditioning": [
1346
+ {
1347
+ "object_id": "SM_AirConditioningA",
1348
+ "bbox_2d": [
1349
+ 394,
1350
+ 25,
1351
+ 1198,
1352
+ 251
1353
+ ],
1354
+ "bbox_3d": {
1355
+ "aabb": {
1356
+ "center": [
1357
+ 10.882030487060547,
1358
+ 193.0000071823597,
1359
+ 251.44998836517334
1360
+ ],
1361
+ "extent": [
1362
+ 150.00003051757812,
1363
+ 0.30008038878440857,
1364
+ 8.791104316711426
1365
+ ]
1366
+ },
1367
+ "obb": {
1368
+ "center": [
1369
+ 10.882030487060547,
1370
+ 193.0000071823597,
1371
+ 251.44998836517334
1372
+ ],
1373
+ "extent": [
1374
+ 150.00003051757812,
1375
+ 0.30008038878440857,
1376
+ 8.791104316711426
1377
+ ],
1378
+ "rotation": [
1379
+ 0,
1380
+ 0,
1381
+ 0
1382
+ ]
1383
+ },
1384
+ "location": [
1385
+ 10.881999969482422,
1386
+ 193.3000030517578,
1387
+ 251.4499969482422
1388
+ ],
1389
+ "rotation": [
1390
+ 0,
1391
+ 0,
1392
+ 0
1393
+ ],
1394
+ "scale": [
1395
+ 1,
1396
+ 1,
1397
+ 1
1398
+ ]
1399
+ },
1400
+ "color": [
1401
+ 63,
1402
+ 127,
1403
+ 63
1404
+ ]
1405
+ },
1406
+ {
1407
+ "object_id": "SM_AirConditioningB",
1408
+ "bbox_2d": [
1409
+ 960,
1410
+ 223,
1411
+ 1179,
1412
+ 274
1413
+ ],
1414
+ "bbox_3d": {
1415
+ "aabb": {
1416
+ "center": [
1417
+ -82.22164916992188,
1418
+ 213.48900699615479,
1419
+ 239.6999982893467
1420
+ ],
1421
+ "extent": [
1422
+ 56.89637756347656,
1423
+ 8.791104316711426,
1424
+ 0.30008044838905334
1425
+ ]
1426
+ },
1427
+ "obb": {
1428
+ "center": [
1429
+ -82.22164916992188,
1430
+ 213.48900699615479,
1431
+ 239.6999982893467
1432
+ ],
1433
+ "extent": [
1434
+ 56.89637756347656,
1435
+ 8.791104316711426,
1436
+ 0.30008044838905334
1437
+ ],
1438
+ "rotation": [
1439
+ 0,
1440
+ 0,
1441
+ 0
1442
+ ]
1443
+ },
1444
+ "location": [
1445
+ -80.90760040283203,
1446
+ 213.48899841308594,
1447
+ 240
1448
+ ],
1449
+ "rotation": [
1450
+ 0,
1451
+ 0,
1452
+ 0
1453
+ ],
1454
+ "scale": [
1455
+ 1,
1456
+ 1,
1457
+ 1
1458
+ ]
1459
+ },
1460
+ "color": [
1461
+ 63,
1462
+ 63,
1463
+ 0
1464
+ ]
1465
+ }
1466
+ ],
1467
+ "kettle": [
1468
+ {
1469
+ "object_id": "SM_Kettle",
1470
+ "bbox_2d": [
1471
+ 1085,
1472
+ 549,
1473
+ 1125,
1474
+ 610
1475
+ ],
1476
+ "bbox_3d": {
1477
+ "aabb": {
1478
+ "center": [
1479
+ -174.96100521087646,
1480
+ 303.7879877090454,
1481
+ 96.61308860778809
1482
+ ],
1483
+ "extent": [
1484
+ 10.519744873046875,
1485
+ 13.488739013671875,
1486
+ 16.630197525024414
1487
+ ]
1488
+ },
1489
+ "obb": {
1490
+ "center": [
1491
+ -174.96100521087646,
1492
+ 303.7879877090454,
1493
+ 96.61308860778809
1494
+ ],
1495
+ "extent": [
1496
+ 10.519744873046875,
1497
+ 13.488739013671875,
1498
+ 16.630197525024414
1499
+ ],
1500
+ "rotation": [
1501
+ 0,
1502
+ 0,
1503
+ 0
1504
+ ]
1505
+ },
1506
+ "location": [
1507
+ -174.96099853515625,
1508
+ 303.7879943847656,
1509
+ 79.98380279541016
1510
+ ],
1511
+ "rotation": [
1512
+ 0,
1513
+ 0,
1514
+ 0
1515
+ ],
1516
+ "scale": [
1517
+ 1,
1518
+ 1,
1519
+ 1
1520
+ ]
1521
+ },
1522
+ "color": [
1523
+ 63,
1524
+ 63,
1525
+ 255
1526
+ ]
1527
+ }
1528
+ ],
1529
+ "cup": [
1530
+ {
1531
+ "object_id": "SM_CupA",
1532
+ "bbox_2d": [
1533
+ 1145,
1534
+ 584,
1535
+ 1169,
1536
+ 608
1537
+ ],
1538
+ "bbox_3d": {
1539
+ "aabb": {
1540
+ "center": [
1541
+ -173.873988457783,
1542
+ 258.0005650761604,
1543
+ 88.81649398803711
1544
+ ],
1545
+ "extent": [
1546
+ 5.447290186819032,
1547
+ 6.844897745798505,
1548
+ 6.6688971519470215
1549
+ ]
1550
+ },
1551
+ "obb": {
1552
+ "center": [
1553
+ -173.873988457783,
1554
+ 258.0005650761604,
1555
+ 88.81649398803711
1556
+ ],
1557
+ "extent": [
1558
+ 5.447290186819032,
1559
+ 6.844897745798505,
1560
+ 6.6688971519470215
1561
+ ],
1562
+ "rotation": [
1563
+ 0,
1564
+ -1.0017900422099046e-05,
1565
+ 0
1566
+ ]
1567
+ },
1568
+ "location": [
1569
+ -173.73599243164062,
1570
+ 259.75201416015625,
1571
+ 82.14759826660156
1572
+ ],
1573
+ "rotation": [
1574
+ 0,
1575
+ -1.0017900422099046e-05,
1576
+ 0
1577
+ ],
1578
+ "scale": [
1579
+ 1,
1580
+ 1,
1581
+ 1
1582
+ ]
1583
+ },
1584
+ "color": [
1585
+ 63,
1586
+ 63,
1587
+ 127
1588
+ ]
1589
+ }
1590
+ ],
1591
+ "shelf": [
1592
+ {
1593
+ "object_id": "SM_Shelf",
1594
+ "bbox_2d": [
1595
+ 1061,
1596
+ 443,
1597
+ 1191,
1598
+ 466
1599
+ ],
1600
+ "bbox_3d": {
1601
+ "aabb": {
1602
+ "center": [
1603
+ -187.5,
1604
+ 273.29998779296875,
1605
+ 163.53599548339844
1606
+ ],
1607
+ "extent": [
1608
+ 12.5,
1609
+ 69.99999237060547,
1610
+ 2
1611
+ ]
1612
+ },
1613
+ "obb": {
1614
+ "center": [
1615
+ -187.5,
1616
+ 273.29998779296875,
1617
+ 163.53599548339844
1618
+ ],
1619
+ "extent": [
1620
+ 12.5,
1621
+ 69.99999237060547,
1622
+ 2
1623
+ ],
1624
+ "rotation": [
1625
+ 0,
1626
+ 0,
1627
+ 0
1628
+ ]
1629
+ },
1630
+ "location": [
1631
+ -200,
1632
+ 273.29998779296875,
1633
+ 161.53599548339844
1634
+ ],
1635
+ "rotation": [
1636
+ 0,
1637
+ 0,
1638
+ 0
1639
+ ],
1640
+ "scale": [
1641
+ 1,
1642
+ 1,
1643
+ 1
1644
+ ]
1645
+ },
1646
+ "color": [
1647
+ 63,
1648
+ 127,
1649
+ 191
1650
+ ]
1651
+ }
1652
+ ],
1653
+ "hardware": [
1654
+ {
1655
+ "object_id": "SM_HardwareB",
1656
+ "bbox_2d": [
1657
+ 726,
1658
+ 289,
1659
+ 735,
1660
+ 640
1661
+ ],
1662
+ "bbox_3d": {
1663
+ "aabb": {
1664
+ "center": [
1665
+ 17.907498836517348,
1666
+ 347.3000652194023,
1667
+ 130.1295928955078
1668
+ ],
1669
+ "extent": [
1670
+ 5.000000000000015,
1671
+ 1.0000789165496826,
1672
+ 130
1673
+ ]
1674
+ },
1675
+ "obb": {
1676
+ "center": [
1677
+ 17.907498836517348,
1678
+ 347.3000652194023,
1679
+ 130.1295928955078
1680
+ ],
1681
+ "extent": [
1682
+ 5.000000000000015,
1683
+ 1.0000789165496826,
1684
+ 130
1685
+ ],
1686
+ "rotation": [
1687
+ 0,
1688
+ 89.99999999999999,
1689
+ 180
1690
+ ]
1691
+ },
1692
+ "location": [
1693
+ 17.907499313354492,
1694
+ 348.29998779296875,
1695
+ 0
1696
+ ],
1697
+ "rotation": [
1698
+ 0,
1699
+ 89.99999999999999,
1700
+ 180
1701
+ ],
1702
+ "scale": [
1703
+ -1,
1704
+ -1,
1705
+ -1
1706
+ ]
1707
+ },
1708
+ "color": [
1709
+ 255,
1710
+ 191,
1711
+ 63
1712
+ ]
1713
+ }
1714
+ ],
1715
+ "bed": [
1716
+ {
1717
+ "object_id": "SM_Bedc",
1718
+ "bbox_2d": [
1719
+ 825,
1720
+ 713,
1721
+ 1517,
1722
+ 1079
1723
+ ],
1724
+ "bbox_3d": {
1725
+ "aabb": {
1726
+ "center": [
1727
+ 42.59486770629883,
1728
+ 46.127655029296875,
1729
+ 55.7503662109375
1730
+ ],
1731
+ "extent": [
1732
+ 21.761241912841797,
1733
+ 86.27418518066406,
1734
+ 20.23805046081543
1735
+ ]
1736
+ },
1737
+ "obb": {
1738
+ "center": [
1739
+ 42.59486770629883,
1740
+ 46.127655029296875,
1741
+ 55.7503662109375
1742
+ ],
1743
+ "extent": [
1744
+ 21.761241912841797,
1745
+ 86.27418518066406,
1746
+ 20.23805046081543
1747
+ ],
1748
+ "rotation": [
1749
+ 0,
1750
+ 0,
1751
+ 0
1752
+ ]
1753
+ },
1754
+ "location": [
1755
+ 92.09200286865234,
1756
+ 45.683799743652344,
1757
+ 15
1758
+ ],
1759
+ "rotation": [
1760
+ 0,
1761
+ 0,
1762
+ 0
1763
+ ],
1764
+ "scale": [
1765
+ 1,
1766
+ 1,
1767
+ 1
1768
+ ]
1769
+ },
1770
+ "color": [
1771
+ 127,
1772
+ 191,
1773
+ 63
1774
+ ]
1775
+ },
1776
+ {
1777
+ "object_id": "SM_Beda",
1778
+ "bbox_2d": [
1779
+ 376,
1780
+ 790,
1781
+ 740,
1782
+ 1079
1783
+ ],
1784
+ "bbox_3d": {
1785
+ "aabb": {
1786
+ "center": [
1787
+ 92.09200286865234,
1788
+ 45.683807373046875,
1789
+ 40.678226470947266
1790
+ ],
1791
+ "extent": [
1792
+ 97.79872131347656,
1793
+ 78.52067565917969,
1794
+ 25.705135345458984
1795
+ ]
1796
+ },
1797
+ "obb": {
1798
+ "center": [
1799
+ 92.09200286865234,
1800
+ 45.683807373046875,
1801
+ 40.678226470947266
1802
+ ],
1803
+ "extent": [
1804
+ 97.79872131347656,
1805
+ 78.52067565917969,
1806
+ 25.705135345458984
1807
+ ],
1808
+ "rotation": [
1809
+ 0,
1810
+ 0,
1811
+ 0
1812
+ ]
1813
+ },
1814
+ "location": [
1815
+ 92.09200286865234,
1816
+ 45.683799743652344,
1817
+ 15
1818
+ ],
1819
+ "rotation": [
1820
+ 0,
1821
+ 0,
1822
+ 0
1823
+ ],
1824
+ "scale": [
1825
+ 1,
1826
+ 1,
1827
+ 1
1828
+ ]
1829
+ },
1830
+ "color": [
1831
+ 63,
1832
+ 191,
1833
+ 255
1834
+ ]
1835
+ },
1836
+ {
1837
+ "object_id": "SM_Bedb",
1838
+ "bbox_2d": [
1839
+ 544,
1840
+ 720,
1841
+ 1657,
1842
+ 1079
1843
+ ],
1844
+ "bbox_3d": {
1845
+ "aabb": {
1846
+ "center": [
1847
+ 48.03324890136719,
1848
+ 46.497535705566406,
1849
+ 45.92771911621094
1850
+ ],
1851
+ "extent": [
1852
+ 82.77275848388672,
1853
+ 94.72562408447266,
1854
+ 31.081745147705078
1855
+ ]
1856
+ },
1857
+ "obb": {
1858
+ "center": [
1859
+ 48.03324890136719,
1860
+ 46.497535705566406,
1861
+ 45.92771911621094
1862
+ ],
1863
+ "extent": [
1864
+ 82.77275848388672,
1865
+ 94.72562408447266,
1866
+ 31.081745147705078
1867
+ ],
1868
+ "rotation": [
1869
+ 0,
1870
+ 0,
1871
+ 0
1872
+ ]
1873
+ },
1874
+ "location": [
1875
+ 92.09200286865234,
1876
+ 45.683799743652344,
1877
+ 15
1878
+ ],
1879
+ "rotation": [
1880
+ 0,
1881
+ 0,
1882
+ 0
1883
+ ],
1884
+ "scale": [
1885
+ 1,
1886
+ 1,
1887
+ 1
1888
+ ]
1889
+ },
1890
+ "color": [
1891
+ 63,
1892
+ 191,
1893
+ 127
1894
+ ]
1895
+ }
1896
+ ],
1897
+ "pillow": [
1898
+ {
1899
+ "object_id": "SM_PillowA",
1900
+ "bbox_2d": [
1901
+ 0,
1902
+ 914,
1903
+ 156,
1904
+ 1061
1905
+ ],
1906
+ "bbox_3d": {
1907
+ "aabb": {
1908
+ "center": [
1909
+ 183.61700248718262,
1910
+ 44.53629684448242,
1911
+ 68.39539909362793
1912
+ ],
1913
+ "extent": [
1914
+ 7.069190502166748,
1915
+ 53.396400451660156,
1916
+ 8.051918983459473
1917
+ ]
1918
+ },
1919
+ "obb": {
1920
+ "center": [
1921
+ 183.61700248718262,
1922
+ 44.53629684448242,
1923
+ 68.39539909362793
1924
+ ],
1925
+ "extent": [
1926
+ 7.069190502166748,
1927
+ 53.396400451660156,
1928
+ 8.051918983459473
1929
+ ],
1930
+ "rotation": [
1931
+ 0,
1932
+ 0,
1933
+ 0
1934
+ ]
1935
+ },
1936
+ "location": [
1937
+ 183.61700439453125,
1938
+ 44.53630065917969,
1939
+ 68.39540100097656
1940
+ ],
1941
+ "rotation": [
1942
+ 0,
1943
+ 0,
1944
+ 0
1945
+ ],
1946
+ "scale": [
1947
+ 1,
1948
+ 1,
1949
+ 1
1950
+ ]
1951
+ },
1952
+ "color": [
1953
+ 63,
1954
+ 191,
1955
+ 0
1956
+ ]
1957
+ },
1958
+ {
1959
+ "object_id": "SM_PillowB",
1960
+ "bbox_2d": [
1961
+ 0,
1962
+ 632,
1963
+ 380,
1964
+ 980
1965
+ ],
1966
+ "bbox_3d": {
1967
+ "aabb": {
1968
+ "center": [
1969
+ 174.71600341796875,
1970
+ 47.130794525146484,
1971
+ 82.11799240112305
1972
+ ],
1973
+ "extent": [
1974
+ 14.708823204040527,
1975
+ 54.53270721435547,
1976
+ 20.160995483398438
1977
+ ]
1978
+ },
1979
+ "obb": {
1980
+ "center": [
1981
+ 174.71600341796875,
1982
+ 47.130794525146484,
1983
+ 82.11799240112305
1984
+ ],
1985
+ "extent": [
1986
+ 14.708823204040527,
1987
+ 54.53270721435547,
1988
+ 20.160995483398438
1989
+ ],
1990
+ "rotation": [
1991
+ 0,
1992
+ 0,
1993
+ 0
1994
+ ]
1995
+ },
1996
+ "location": [
1997
+ 174.71600341796875,
1998
+ 47.13079833984375,
1999
+ 82.11799621582031
2000
+ ],
2001
+ "rotation": [
2002
+ 0,
2003
+ 0,
2004
+ 0
2005
+ ],
2006
+ "scale": [
2007
+ 1,
2008
+ 1,
2009
+ 1
2010
+ ]
2011
+ },
2012
+ "color": [
2013
+ 63,
2014
+ 191,
2015
+ 63
2016
+ ]
2017
+ },
2018
+ {
2019
+ "object_id": "SM_PillowC",
2020
+ "bbox_2d": [
2021
+ 316,
2022
+ 662,
2023
+ 557,
2024
+ 1050
2025
+ ],
2026
+ "bbox_3d": {
2027
+ "aabb": {
2028
+ "center": [
2029
+ 153.91199588775635,
2030
+ 45.196502685546875,
2031
+ 79.50050163269043
2032
+ ],
2033
+ "extent": [
2034
+ 11.88922119140625,
2035
+ 52.05424499511719,
2036
+ 15.85400390625
2037
+ ]
2038
+ },
2039
+ "obb": {
2040
+ "center": [
2041
+ 153.91199588775635,
2042
+ 45.196502685546875,
2043
+ 79.50050163269043
2044
+ ],
2045
+ "extent": [
2046
+ 11.88922119140625,
2047
+ 52.05424499511719,
2048
+ 15.85400390625
2049
+ ],
2050
+ "rotation": [
2051
+ 0,
2052
+ 0,
2053
+ 0
2054
+ ]
2055
+ },
2056
+ "location": [
2057
+ 153.91200256347656,
2058
+ 45.19649887084961,
2059
+ 79.50050354003906
2060
+ ],
2061
+ "rotation": [
2062
+ 0,
2063
+ 0,
2064
+ 0
2065
+ ],
2066
+ "scale": [
2067
+ 1,
2068
+ 1,
2069
+ 1
2070
+ ]
2071
+ },
2072
+ "color": [
2073
+ 0,
2074
+ 191,
2075
+ 191
2076
+ ]
2077
+ }
2078
+ ]
2079
+ }
2080
+ }
scenes/annotations/HotelRoomVol1/l016_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,1532 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l016_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l016_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 158,
8
+ -255,
9
+ 81
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
+ 158,
38
+ -255,
39
+ 81,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1021,
60
+ 109
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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_CeilingB",
116
+ "bbox_2d": [
117
+ 1012,
118
+ 0,
119
+ 1614,
120
+ 99
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 0,
126
+ -358.29998779296875,
127
+ 238
128
+ ],
129
+ "extent": [
130
+ 180,
131
+ 85,
132
+ 2
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 0,
138
+ -358.29998779296875,
139
+ 238
140
+ ],
141
+ "extent": [
142
+ 180,
143
+ 85,
144
+ 2
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 0,
154
+ -358.29998779296875,
155
+ 236
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 127,
170
+ 255,
171
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "floor": [
176
+ {
177
+ "object_id": "SM_FloorC",
178
+ "bbox_2d": [
179
+ 1063,
180
+ 725,
181
+ 1919,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 0,
188
+ -134.23599243164062,
189
+ 7.499999523162842
190
+ ],
191
+ "extent": [
192
+ 200,
193
+ 329.0640563964844,
194
+ 7.500000476837158
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 0,
200
+ -134.23599243164062,
201
+ 7.499999523162842
202
+ ],
203
+ "extent": [
204
+ 200,
205
+ 329.0640563964844,
206
+ 7.500000476837158
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 0,
216
+ -134.23599243164062,
217
+ 0
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
+ 255,
233
+ 127
234
+ ]
235
+ }
236
+ ],
237
+ "wall": [
238
+ {
239
+ "object_id": "SM_WallC",
240
+ "bbox_2d": [
241
+ 1619,
242
+ 0,
243
+ 1699,
244
+ 58
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ 0,
250
+ -473.29998874664307,
251
+ 140.0000457763672
252
+ ],
253
+ "extent": [
254
+ 200,
255
+ 10.000000953674316,
256
+ 140
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ 0,
262
+ -473.29998874664307,
263
+ 140.0000457763672
264
+ ],
265
+ "extent": [
266
+ 200,
267
+ 10.000000953674316,
268
+ 140
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ 0,
278
+ -473.29998779296875,
279
+ 0
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_WallA",
300
+ "bbox_2d": [
301
+ 0,
302
+ 47,
303
+ 1008,
304
+ 646
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ -210,
310
+ -10,
311
+ 140.00003051757812
312
+ ],
313
+ "extent": [
314
+ 10,
315
+ 473.3000183105469,
316
+ 140.00003051757812
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ -210,
322
+ -10,
323
+ 140.00003051757812
324
+ ],
325
+ "extent": [
326
+ 10,
327
+ 473.3000183105469,
328
+ 140.00003051757812
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ -210,
338
+ -10,
339
+ 0
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_Window",
362
+ "bbox_2d": [
363
+ 1618,
364
+ 0,
365
+ 1919,
366
+ 843
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ 0,
372
+ -475.700008392334,
373
+ 125
374
+ ],
375
+ "extent": [
376
+ 200,
377
+ 2.9999682903289795,
378
+ 114.99999237060547
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ 0,
384
+ -475.700008392334,
385
+ 125
386
+ ],
387
+ "extent": [
388
+ 200,
389
+ 2.9999682903289795,
390
+ 114.99999237060547
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ 0,
400
+ -475.70001220703125,
401
+ 125
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
+ 0,
417
+ 63
418
+ ]
419
+ }
420
+ ]
421
+ },
422
+ "foreground": {
423
+ "curtain": [
424
+ {
425
+ "object_id": "SM_CurtainA",
426
+ "bbox_2d": [
427
+ 1495,
428
+ 37,
429
+ 1570,
430
+ 738
431
+ ],
432
+ "bbox_3d": {
433
+ "aabb": {
434
+ "center": [
435
+ -184.63999557495117,
436
+ -450.303014755249,
437
+ 140.9367218017578
438
+ ],
439
+ "extent": [
440
+ 24.034090042114258,
441
+ 8.739770889282227,
442
+ 138.2534637451172
443
+ ]
444
+ },
445
+ "obb": {
446
+ "center": [
447
+ -184.63999557495117,
448
+ -450.303014755249,
449
+ 140.9367218017578
450
+ ],
451
+ "extent": [
452
+ 24.034090042114258,
453
+ 8.739770889282227,
454
+ 138.2534637451172
455
+ ],
456
+ "rotation": [
457
+ 0,
458
+ 0,
459
+ 0
460
+ ]
461
+ },
462
+ "location": [
463
+ -184.63999938964844,
464
+ -450.3030090332031,
465
+ 279.12200927734375
466
+ ],
467
+ "rotation": [
468
+ 0,
469
+ 0,
470
+ 0
471
+ ],
472
+ "scale": [
473
+ 1,
474
+ 1,
475
+ 1
476
+ ]
477
+ },
478
+ "color": [
479
+ 0,
480
+ 127,
481
+ 255
482
+ ]
483
+ },
484
+ {
485
+ "object_id": "SM_CurtainB",
486
+ "bbox_2d": [
487
+ 1562,
488
+ 0,
489
+ 1619,
490
+ 749
491
+ ],
492
+ "bbox_3d": {
493
+ "aabb": {
494
+ "center": [
495
+ -191.80099868774215,
496
+ -460.06000900268623,
497
+ 140.17323303222656
498
+ ],
499
+ "extent": [
500
+ 49.35889114727598,
501
+ 3.510708140746601,
502
+ 138.00962829589844
503
+ ]
504
+ },
505
+ "obb": {
506
+ "center": [
507
+ -191.80099868774215,
508
+ -460.06000900268623,
509
+ 140.17323303222656
510
+ ],
511
+ "extent": [
512
+ 49.35889114727598,
513
+ 3.510708140746601,
514
+ 138.00962829589844
515
+ ],
516
+ "rotation": [
517
+ 0,
518
+ 1.0017900422099046e-05,
519
+ 0
520
+ ]
521
+ },
522
+ "location": [
523
+ -191.80099487304688,
524
+ -460.05999755859375,
525
+ 277.52301025390625
526
+ ],
527
+ "rotation": [
528
+ 0,
529
+ 1.0017900422099046e-05,
530
+ 0
531
+ ],
532
+ "scale": [
533
+ 1,
534
+ 1,
535
+ 1
536
+ ]
537
+ },
538
+ "color": [
539
+ 255,
540
+ 127,
541
+ 0
542
+ ]
543
+ }
544
+ ],
545
+ "drawer": [
546
+ {
547
+ "object_id": "SM_Drawer",
548
+ "bbox_2d": [
549
+ 0,
550
+ 569,
551
+ 1089,
552
+ 629
553
+ ],
554
+ "bbox_3d": {
555
+ "aabb": {
556
+ "center": [
557
+ -185.02699279785156,
558
+ -53.120384216308594,
559
+ 60.19429588317871
560
+ ],
561
+ "extent": [
562
+ 15,
563
+ 246.42047119140625,
564
+ 10
565
+ ]
566
+ },
567
+ "obb": {
568
+ "center": [
569
+ -185.02699279785156,
570
+ -53.120384216308594,
571
+ 60.19429588317871
572
+ ],
573
+ "extent": [
574
+ 15,
575
+ 246.42047119140625,
576
+ 10
577
+ ],
578
+ "rotation": [
579
+ 0,
580
+ 0,
581
+ 0
582
+ ]
583
+ },
584
+ "location": [
585
+ -200.02699279785156,
586
+ -53.120399475097656,
587
+ 50.19430160522461
588
+ ],
589
+ "rotation": [
590
+ 0,
591
+ 0,
592
+ 0
593
+ ],
594
+ "scale": [
595
+ 1,
596
+ 1,
597
+ 1
598
+ ]
599
+ },
600
+ "color": [
601
+ 255,
602
+ 127,
603
+ 127
604
+ ]
605
+ }
606
+ ],
607
+ "cabinet": [
608
+ {
609
+ "object_id": "SM_CabinetB",
610
+ "bbox_2d": [
611
+ 1009,
612
+ 93,
613
+ 1494,
614
+ 726
615
+ ],
616
+ "bbox_3d": {
617
+ "aabb": {
618
+ "center": [
619
+ -190,
620
+ -358.2999725341797,
621
+ 127.49999237060547
622
+ ],
623
+ "extent": [
624
+ 10,
625
+ 85.00001525878906,
626
+ 112.5
627
+ ]
628
+ },
629
+ "obb": {
630
+ "center": [
631
+ -190,
632
+ -358.2999725341797,
633
+ 127.49999237060547
634
+ ],
635
+ "extent": [
636
+ 10,
637
+ 85.00001525878906,
638
+ 112.5
639
+ ],
640
+ "rotation": [
641
+ 0,
642
+ 0,
643
+ 0
644
+ ]
645
+ },
646
+ "location": [
647
+ -200,
648
+ -358.29998779296875,
649
+ 15
650
+ ],
651
+ "rotation": [
652
+ 0,
653
+ 0,
654
+ 0
655
+ ],
656
+ "scale": [
657
+ 1,
658
+ 1,
659
+ 1
660
+ ]
661
+ },
662
+ "color": [
663
+ 127,
664
+ 0,
665
+ 255
666
+ ]
667
+ }
668
+ ],
669
+ "tv background wall": [
670
+ {
671
+ "object_id": "SM_TVBackgroundwall",
672
+ "bbox_2d": [
673
+ 0,
674
+ 101,
675
+ 809,
676
+ 569
677
+ ],
678
+ "bbox_3d": {
679
+ "aabb": {
680
+ "center": [
681
+ -194.99996089935303,
682
+ -2.927030086517334,
683
+ 120.00000762939453
684
+ ],
685
+ "extent": [
686
+ 5.000057220458984,
687
+ 196.22706604003906,
688
+ 119.99999237060547
689
+ ]
690
+ },
691
+ "obb": {
692
+ "center": [
693
+ -194.99996089935303,
694
+ -2.927030086517334,
695
+ 120.00000762939453
696
+ ],
697
+ "extent": [
698
+ 5.000057220458984,
699
+ 196.22706604003906,
700
+ 119.99999237060547
701
+ ],
702
+ "rotation": [
703
+ 0,
704
+ 0,
705
+ 0
706
+ ]
707
+ },
708
+ "location": [
709
+ -200,
710
+ -2.927030086517334,
711
+ 0
712
+ ],
713
+ "rotation": [
714
+ 0,
715
+ 0,
716
+ 0
717
+ ],
718
+ "scale": [
719
+ 1,
720
+ 1,
721
+ 1
722
+ ]
723
+ },
724
+ "color": [
725
+ 127,
726
+ 255,
727
+ 0
728
+ ]
729
+ }
730
+ ],
731
+ "tv": [
732
+ {
733
+ "object_id": "SM_TV",
734
+ "bbox_2d": [
735
+ 162,
736
+ 297,
737
+ 677,
738
+ 553
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ -191.59167134761813,
744
+ -58.649101053747344,
745
+ 122.68900299072266
746
+ ],
747
+ "extent": [
748
+ 1.164358076520415,
749
+ 93.73062917086345,
750
+ 46.75914001464844
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ -191.59167134761813,
756
+ -58.649101053747344,
757
+ 122.68900299072266
758
+ ],
759
+ "extent": [
760
+ 1.164358076520415,
761
+ 93.73062917086345,
762
+ 46.75914001464844
763
+ ],
764
+ "rotation": [
765
+ 0,
766
+ 1.0017900422099046e-05,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ -192.75599670410156,
772
+ -58.64910125732422,
773
+ 122.68900299072266
774
+ ],
775
+ "rotation": [
776
+ 0,
777
+ 1.0017900422099046e-05,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 1,
782
+ 1,
783
+ 1
784
+ ]
785
+ },
786
+ "color": [
787
+ 127,
788
+ 127,
789
+ 63
790
+ ]
791
+ }
792
+ ],
793
+ "sofa": [
794
+ {
795
+ "object_id": "SM_Sofa",
796
+ "bbox_2d": [
797
+ 1614,
798
+ 1079,
799
+ 1919,
800
+ 1079
801
+ ],
802
+ "bbox_3d": {
803
+ "aabb": {
804
+ "center": [
805
+ 136.7830047607422,
806
+ -362.3440234041493,
807
+ 51.409241676326005
808
+ ],
809
+ "extent": [
810
+ 43.96183776855469,
811
+ 89.15413540365967,
812
+ 36.46275743999065
813
+ ]
814
+ },
815
+ "obb": {
816
+ "center": [
817
+ 136.7830047607422,
818
+ -362.3440234041493,
819
+ 51.409241676326
820
+ ],
821
+ "extent": [
822
+ 43.96183776855469,
823
+ 89.15413540365967,
824
+ 36.46275743999065
825
+ ],
826
+ "rotation": [
827
+ 0,
828
+ 0,
829
+ -1.0017900422099046e-05
830
+ ]
831
+ },
832
+ "location": [
833
+ 136.7830047607422,
834
+ -362.343994140625,
835
+ 14.946499824523926
836
+ ],
837
+ "rotation": [
838
+ 0,
839
+ 0,
840
+ -1.0017900422099046e-05
841
+ ],
842
+ "scale": [
843
+ 1,
844
+ 1,
845
+ 1
846
+ ]
847
+ },
848
+ "color": [
849
+ 127,
850
+ 63,
851
+ 0
852
+ ]
853
+ }
854
+ ],
855
+ "table": [
856
+ {
857
+ "object_id": "SM_TableA",
858
+ "bbox_2d": [
859
+ 1714,
860
+ 670,
861
+ 1919,
862
+ 762
863
+ ],
864
+ "bbox_3d": {
865
+ "aabb": {
866
+ "center": [
867
+ 44.800594329833984,
868
+ -387.695011138916,
869
+ 37.94319820404053
870
+ ],
871
+ "extent": [
872
+ 34.422569274902344,
873
+ 34.422569274902344,
874
+ 23.104700088500977
875
+ ]
876
+ },
877
+ "obb": {
878
+ "center": [
879
+ 44.800594329833984,
880
+ -387.695011138916,
881
+ 37.94319820404053
882
+ ],
883
+ "extent": [
884
+ 34.422569274902344,
885
+ 34.422569274902344,
886
+ 23.104700088500977
887
+ ],
888
+ "rotation": [
889
+ 0,
890
+ 0,
891
+ 0
892
+ ]
893
+ },
894
+ "location": [
895
+ 44.80059814453125,
896
+ -387.69500732421875,
897
+ 14.838500022888184
898
+ ],
899
+ "rotation": [
900
+ 0,
901
+ 0,
902
+ 0
903
+ ],
904
+ "scale": [
905
+ 1,
906
+ 1,
907
+ 1
908
+ ]
909
+ },
910
+ "color": [
911
+ 127,
912
+ 63,
913
+ 255
914
+ ]
915
+ },
916
+ {
917
+ "object_id": "SM_TableB",
918
+ "bbox_2d": [
919
+ 1152,
920
+ 550,
921
+ 1408,
922
+ 758
923
+ ],
924
+ "bbox_3d": {
925
+ "aabb": {
926
+ "center": [
927
+ -149.79597091674805,
928
+ -356.0385398864746,
929
+ 46.257906913757324
930
+ ],
931
+ "extent": [
932
+ 38.74999237060547,
933
+ 38.749996185302734,
934
+ 31.272306442260742
935
+ ]
936
+ },
937
+ "obb": {
938
+ "center": [
939
+ -149.79597091674805,
940
+ -356.0385398864746,
941
+ 46.257906913757324
942
+ ],
943
+ "extent": [
944
+ 38.74999237060547,
945
+ 38.749996185302734,
946
+ 31.272306442260742
947
+ ],
948
+ "rotation": [
949
+ 0,
950
+ 0,
951
+ 0
952
+ ]
953
+ },
954
+ "location": [
955
+ -149.79600524902344,
956
+ -356.0039978027344,
957
+ 14.985600471496582
958
+ ],
959
+ "rotation": [
960
+ 0,
961
+ 0,
962
+ 0
963
+ ],
964
+ "scale": [
965
+ 1,
966
+ 1,
967
+ 1
968
+ ]
969
+ },
970
+ "color": [
971
+ 63,
972
+ 255,
973
+ 63
974
+ ]
975
+ }
976
+ ],
977
+ "chair": [
978
+ {
979
+ "object_id": "SM_Chair",
980
+ "bbox_2d": [
981
+ 1377,
982
+ 489,
983
+ 1648,
984
+ 856
985
+ ],
986
+ "bbox_3d": {
987
+ "aabb": {
988
+ "center": [
989
+ -70.37654917330788,
990
+ -386.44064606697947,
991
+ 53.646121978759766
992
+ ],
993
+ "extent": [
994
+ 36.46827404604548,
995
+ 36.58248116489722,
996
+ 38.66487121582031
997
+ ]
998
+ },
999
+ "obb": {
1000
+ "center": [
1001
+ -70.37654917330788,
1002
+ -386.44064606697947,
1003
+ 53.646121978759766
1004
+ ],
1005
+ "extent": [
1006
+ 36.46827404604548,
1007
+ 36.58248116489722,
1008
+ 38.66487121582031
1009
+ ],
1010
+ "rotation": [
1011
+ 0,
1012
+ 40.00004196166993,
1013
+ 0
1014
+ ]
1015
+ },
1016
+ "location": [
1017
+ -70.37652587890625,
1018
+ -386.440673828125,
1019
+ 14.991600036621094
1020
+ ],
1021
+ "rotation": [
1022
+ 0,
1023
+ 40.00004196166993,
1024
+ 0
1025
+ ],
1026
+ "scale": [
1027
+ 1,
1028
+ 1,
1029
+ 1
1030
+ ]
1031
+ },
1032
+ "color": [
1033
+ 63,
1034
+ 0,
1035
+ 63
1036
+ ]
1037
+ }
1038
+ ],
1039
+ "plant": [
1040
+ {
1041
+ "object_id": "SM_Plant",
1042
+ "bbox_2d": [
1043
+ 848,
1044
+ 367,
1045
+ 973,
1046
+ 570
1047
+ ],
1048
+ "bbox_3d": {
1049
+ "aabb": {
1050
+ "center": [
1051
+ -186.37751579284668,
1052
+ -237.51317405700684,
1053
+ 106.01042938232422
1054
+ ],
1055
+ "extent": [
1056
+ 9.79758358001709,
1057
+ 22.762449264526367,
1058
+ 36.91743469238281
1059
+ ]
1060
+ },
1061
+ "obb": {
1062
+ "center": [
1063
+ -186.37751579284668,
1064
+ -237.51317405700684,
1065
+ 106.01042938232422
1066
+ ],
1067
+ "extent": [
1068
+ 9.79758358001709,
1069
+ 22.762449264526367,
1070
+ 36.91743469238281
1071
+ ],
1072
+ "rotation": [
1073
+ 0,
1074
+ 0,
1075
+ 0
1076
+ ]
1077
+ },
1078
+ "location": [
1079
+ -184.35899353027344,
1080
+ -235.2469940185547,
1081
+ 69.09300231933594
1082
+ ],
1083
+ "rotation": [
1084
+ 0,
1085
+ 0,
1086
+ 0
1087
+ ],
1088
+ "scale": [
1089
+ 1,
1090
+ 1,
1091
+ 1
1092
+ ]
1093
+ },
1094
+ "color": [
1095
+ 255,
1096
+ 0,
1097
+ 191
1098
+ ]
1099
+ }
1100
+ ],
1101
+ "picture": [
1102
+ {
1103
+ "object_id": "SM_Picture",
1104
+ "bbox_2d": [
1105
+ 872,
1106
+ 187,
1107
+ 941,
1108
+ 286
1109
+ ],
1110
+ "bbox_3d": {
1111
+ "aabb": {
1112
+ "center": [
1113
+ -199.76694284379482,
1114
+ -235.24699306488037,
1115
+ 193.97799110412598
1116
+ ],
1117
+ "extent": [
1118
+ 0.22517012059688568,
1119
+ 13.180268287658691,
1120
+ 18.640668869018555
1121
+ ]
1122
+ },
1123
+ "obb": {
1124
+ "center": [
1125
+ -199.76694284379482,
1126
+ -235.24699306488037,
1127
+ 193.97799110412598
1128
+ ],
1129
+ "extent": [
1130
+ 0.22517012059688568,
1131
+ 13.180268287658691,
1132
+ 18.640668869018555
1133
+ ],
1134
+ "rotation": [
1135
+ 0,
1136
+ 0,
1137
+ 0
1138
+ ]
1139
+ },
1140
+ "location": [
1141
+ -199.99200439453125,
1142
+ -235.2469940185547,
1143
+ 193.97799682617188
1144
+ ],
1145
+ "rotation": [
1146
+ 0,
1147
+ 0,
1148
+ 0
1149
+ ],
1150
+ "scale": [
1151
+ 1,
1152
+ 1,
1153
+ 1
1154
+ ]
1155
+ },
1156
+ "color": [
1157
+ 127,
1158
+ 0,
1159
+ 191
1160
+ ]
1161
+ }
1162
+ ],
1163
+ "cup": [
1164
+ {
1165
+ "object_id": "SM_CupB",
1166
+ "bbox_2d": [
1167
+ 1289,
1168
+ 528,
1169
+ 1315,
1170
+ 542
1171
+ ],
1172
+ "bbox_3d": {
1173
+ "aabb": {
1174
+ "center": [
1175
+ -160.06632614135742,
1176
+ -368.4804297267654,
1177
+ 81.65173792062303
1178
+ ],
1179
+ "extent": [
1180
+ 4.2690935134887695,
1181
+ 4.2901712269720065,
1182
+ 3.18805483489416
1183
+ ]
1184
+ },
1185
+ "obb": {
1186
+ "center": [
1187
+ -160.06632614135742,
1188
+ -368.4804297267654,
1189
+ 81.65173792062303
1190
+ ],
1191
+ "extent": [
1192
+ 4.2690935134887695,
1193
+ 4.2901712269720065,
1194
+ 3.18805483489416
1195
+ ],
1196
+ "rotation": [
1197
+ 0,
1198
+ 0,
1199
+ -1.0017900422099046e-05
1200
+ ]
1201
+ },
1202
+ "location": [
1203
+ -160.10400390625,
1204
+ -368.4360046386719,
1205
+ 78.48179626464844
1206
+ ],
1207
+ "rotation": [
1208
+ 0,
1209
+ 0,
1210
+ -1.0017900422099046e-05
1211
+ ],
1212
+ "scale": [
1213
+ 1,
1214
+ 1,
1215
+ 1
1216
+ ]
1217
+ },
1218
+ "color": [
1219
+ 127,
1220
+ 255,
1221
+ 191
1222
+ ]
1223
+ }
1224
+ ],
1225
+ "magazine": [
1226
+ {
1227
+ "object_id": "SM_Magazine",
1228
+ "bbox_2d": [
1229
+ 1235,
1230
+ 548,
1231
+ 1309,
1232
+ 551
1233
+ ],
1234
+ "bbox_3d": {
1235
+ "aabb": {
1236
+ "center": [
1237
+ -134.54961204314307,
1238
+ -350.52831601056704,
1239
+ 77.97567614912985
1240
+ ],
1241
+ "extent": [
1242
+ 16.358652273061374,
1243
+ 14.58613194866075,
1244
+ 0.4929099678993367
1245
+ ]
1246
+ },
1247
+ "obb": {
1248
+ "center": [
1249
+ -134.54961204314307,
1250
+ -350.52831601056704,
1251
+ 77.97567614912985
1252
+ ],
1253
+ "extent": [
1254
+ 16.358652273061374,
1255
+ 14.58613194866075,
1256
+ 0.4929099678993367
1257
+ ],
1258
+ "rotation": [
1259
+ 90,
1260
+ -160.00012207031253,
1261
+ 0
1262
+ ]
1263
+ },
1264
+ "location": [
1265
+ -147.25,
1266
+ -355.1470031738281,
1267
+ 77.92990112304688
1268
+ ],
1269
+ "rotation": [
1270
+ 90,
1271
+ -160.00012207031253,
1272
+ 0
1273
+ ],
1274
+ "scale": [
1275
+ 1,
1276
+ 1,
1277
+ 1
1278
+ ]
1279
+ },
1280
+ "color": [
1281
+ 127,
1282
+ 127,
1283
+ 191
1284
+ ]
1285
+ }
1286
+ ],
1287
+ "tray": [
1288
+ {
1289
+ "object_id": "SM_TrayC",
1290
+ "bbox_2d": [
1291
+ 1263,
1292
+ 543,
1293
+ 1342,
1294
+ 550
1295
+ ],
1296
+ "bbox_3d": {
1297
+ "aabb": {
1298
+ "center": [
1299
+ -158.843994140625,
1300
+ -368.0790100097656,
1301
+ 78.75958907604218
1302
+ ],
1303
+ "extent": [
1304
+ 12.496990203857422,
1305
+ 12.496990203857422,
1306
+ 1.217192530632019
1307
+ ]
1308
+ },
1309
+ "obb": {
1310
+ "center": [
1311
+ -158.843994140625,
1312
+ -368.0790100097656,
1313
+ 78.75958907604218
1314
+ ],
1315
+ "extent": [
1316
+ 12.496990203857422,
1317
+ 12.496990203857422,
1318
+ 1.217192530632019
1319
+ ],
1320
+ "rotation": [
1321
+ 0,
1322
+ 0,
1323
+ 0
1324
+ ]
1325
+ },
1326
+ "location": [
1327
+ -158.843994140625,
1328
+ -368.0790100097656,
1329
+ 77.54239654541016
1330
+ ],
1331
+ "rotation": [
1332
+ 0,
1333
+ 0,
1334
+ 0
1335
+ ],
1336
+ "scale": [
1337
+ 1,
1338
+ 1,
1339
+ 1
1340
+ ]
1341
+ },
1342
+ "color": [
1343
+ 127,
1344
+ 63,
1345
+ 191
1346
+ ]
1347
+ }
1348
+ ],
1349
+ "ornament": [
1350
+ {
1351
+ "object_id": "SM_OrnamentC_2",
1352
+ "bbox_2d": [
1353
+ 1137,
1354
+ 470,
1355
+ 1168,
1356
+ 519
1357
+ ],
1358
+ "bbox_3d": {
1359
+ "aabb": {
1360
+ "center": [
1361
+ -190.45645141601562,
1362
+ -325.1131591796875,
1363
+ 96.93545506470139
1364
+ ],
1365
+ "extent": [
1366
+ 5.644383376909559,
1367
+ 5.64438397869327,
1368
+ 8.884597520756074
1369
+ ]
1370
+ },
1371
+ "obb": {
1372
+ "center": [
1373
+ -190.45645141601562,
1374
+ -325.1131591796875,
1375
+ 96.93545506470139
1376
+ ],
1377
+ "extent": [
1378
+ 5.644383376909559,
1379
+ 5.64438397869327,
1380
+ 8.884597520756074
1381
+ ],
1382
+ "rotation": [
1383
+ 0,
1384
+ 0,
1385
+ 0
1386
+ ]
1387
+ },
1388
+ "location": [
1389
+ -190.45645141601562,
1390
+ -325.1131591796875,
1391
+ 88.05085754394531
1392
+ ],
1393
+ "rotation": [
1394
+ 0,
1395
+ 0,
1396
+ 0
1397
+ ],
1398
+ "scale": [
1399
+ 0.631015956401825,
1400
+ 0.631015956401825,
1401
+ 0.8310162425041199
1402
+ ]
1403
+ },
1404
+ "color": [
1405
+ 63,
1406
+ 31,
1407
+ 0
1408
+ ]
1409
+ },
1410
+ {
1411
+ "object_id": "SM_OrnamentD_10",
1412
+ "bbox_2d": [
1413
+ 1323,
1414
+ 467,
1415
+ 1346,
1416
+ 519
1417
+ ],
1418
+ "bbox_3d": {
1419
+ "aabb": {
1420
+ "center": [
1421
+ -193.01506074165886,
1422
+ -392.0024108886719,
1423
+ 97.88160162473139
1424
+ ],
1425
+ "extent": [
1426
+ 4.2531043675359115,
1427
+ 4.1884908315691405,
1428
+ 9.830744080786076
1429
+ ]
1430
+ },
1431
+ "obb": {
1432
+ "center": [
1433
+ -193.01506074165886,
1434
+ -392.0024108886719,
1435
+ 97.88160162473139
1436
+ ],
1437
+ "extent": [
1438
+ 4.2531043675359115,
1439
+ 4.1884908315691405,
1440
+ 9.830744080786076
1441
+ ],
1442
+ "rotation": [
1443
+ 0,
1444
+ 0,
1445
+ 0
1446
+ ]
1447
+ },
1448
+ "location": [
1449
+ -193.0150604248047,
1450
+ -392.0024108886719,
1451
+ 88.05085754394531
1452
+ ],
1453
+ "rotation": [
1454
+ 0,
1455
+ 0,
1456
+ 0
1457
+ ],
1458
+ "scale": [
1459
+ 0.6644913554191589,
1460
+ 0.6644913554191589,
1461
+ 0.6644913554191589
1462
+ ]
1463
+ },
1464
+ "color": [
1465
+ 63,
1466
+ 31,
1467
+ 255
1468
+ ]
1469
+ },
1470
+ {
1471
+ "object_id": "SM_OrnamentF_18",
1472
+ "bbox_2d": [
1473
+ 1169,
1474
+ 500,
1475
+ 1197,
1476
+ 519
1477
+ ],
1478
+ "bbox_3d": {
1479
+ "aabb": {
1480
+ "center": [
1481
+ -188.71698622468278,
1482
+ -335.8035202390388,
1483
+ 91.75630736351013
1484
+ ],
1485
+ "extent": [
1486
+ 6.366357987330417,
1487
+ 6.366364094307244,
1488
+ 3.7054548263549805
1489
+ ]
1490
+ },
1491
+ "obb": {
1492
+ "center": [
1493
+ -188.71698622468278,
1494
+ -335.8035202390388,
1495
+ 91.75630736351013
1496
+ ],
1497
+ "extent": [
1498
+ 6.366357987330417,
1499
+ 6.366364094307244,
1500
+ 3.7054548263549805
1501
+ ],
1502
+ "rotation": [
1503
+ 0,
1504
+ 45.00004196166992,
1505
+ 0
1506
+ ]
1507
+ },
1508
+ "location": [
1509
+ -188.717041015625,
1510
+ -335.803466796875,
1511
+ 88.05085754394531
1512
+ ],
1513
+ "rotation": [
1514
+ 0,
1515
+ 45.00004196166992,
1516
+ 0
1517
+ ],
1518
+ "scale": [
1519
+ 1,
1520
+ 1,
1521
+ 1
1522
+ ]
1523
+ },
1524
+ "color": [
1525
+ 63,
1526
+ 31,
1527
+ 191
1528
+ ]
1529
+ }
1530
+ ]
1531
+ }
1532
+ }
scenes/annotations/HotelRoomVol1/l020_r002/scene_annotations_split.json ADDED
@@ -0,0 +1,860 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l020_r002",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l020_r002/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 137,
8
+ 211,
9
+ 97
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
+ 137,
38
+ 211,
39
+ 97,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 1340,
58
+ 0,
59
+ 1864,
60
+ 136
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "wall": [
116
+ {
117
+ "object_id": "SM_WallD",
118
+ "bbox_2d": [
119
+ 1300,
120
+ 0,
121
+ 1339,
122
+ 887
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ -119,
128
+ 338.29998779296875,
129
+ 140.00003051757812
130
+ ],
131
+ "extent": [
132
+ 101,
133
+ 145,
134
+ 140.00003051757812
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ -119,
140
+ 338.29998779296875,
141
+ 140.00003051757812
142
+ ],
143
+ "extent": [
144
+ 101,
145
+ 145,
146
+ 140.00003051757812
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ -119,
156
+ 338.29998779296875,
157
+ 0
158
+ ],
159
+ "rotation": [
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "scale": [
165
+ 1,
166
+ 1,
167
+ 1
168
+ ]
169
+ },
170
+ "color": [
171
+ 0,
172
+ 0,
173
+ 63
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_WallE",
178
+ "bbox_2d": [
179
+ 0,
180
+ 0,
181
+ 1299,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 101,
188
+ 338.79998779296875,
189
+ 140.00003051757812
190
+ ],
191
+ "extent": [
192
+ 119,
193
+ 144.5,
194
+ 140.00003051757812
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 101,
200
+ 338.79998779296875,
201
+ 140.00003051757812
202
+ ],
203
+ "extent": [
204
+ 119,
205
+ 144.5,
206
+ 140.00003051757812
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 101,
216
+ 338.79998779296875,
217
+ 0
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
+ 63
234
+ ]
235
+ }
236
+ ],
237
+ "floor": [
238
+ {
239
+ "object_id": "SM_FloorA",
240
+ "bbox_2d": [
241
+ 1340,
242
+ 813,
243
+ 1454,
244
+ 876
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ 0,
250
+ 338.79998779296875,
251
+ -4.900002956390381
252
+ ],
253
+ "extent": [
254
+ 220,
255
+ 144.49998474121094,
256
+ 5.099997043609619
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ 0,
262
+ 338.79998779296875,
263
+ -4.900002956390381
264
+ ],
265
+ "extent": [
266
+ 220,
267
+ 144.49998474121094,
268
+ 5.099997043609619
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ 0,
278
+ 338.79998779296875,
279
+ 0
280
+ ],
281
+ "rotation": [
282
+ 0,
283
+ 0,
284
+ 0
285
+ ],
286
+ "scale": [
287
+ 1,
288
+ 1,
289
+ 1
290
+ ]
291
+ },
292
+ "color": [
293
+ 255,
294
+ 0,
295
+ 63
296
+ ]
297
+ }
298
+ ],
299
+ "background wall": [
300
+ {
301
+ "object_id": "SM_BackgroundwallB",
302
+ "bbox_2d": [
303
+ 1722,
304
+ 0,
305
+ 1919,
306
+ 600
307
+ ],
308
+ "bbox_3d": {
309
+ "aabb": {
310
+ "center": [
311
+ -199,
312
+ 273.2999954223633,
313
+ 179.92100524902344
314
+ ],
315
+ "extent": [
316
+ 1,
317
+ 70,
318
+ 99.92121887207031
319
+ ]
320
+ },
321
+ "obb": {
322
+ "center": [
323
+ -199,
324
+ 273.2999954223633,
325
+ 179.92100524902344
326
+ ],
327
+ "extent": [
328
+ 1,
329
+ 70,
330
+ 99.92121887207031
331
+ ],
332
+ "rotation": [
333
+ 0,
334
+ 0,
335
+ 0
336
+ ]
337
+ },
338
+ "location": [
339
+ -200,
340
+ 273.29998779296875,
341
+ 179.92100524902344
342
+ ],
343
+ "rotation": [
344
+ 0,
345
+ 0,
346
+ 0
347
+ ],
348
+ "scale": [
349
+ 1,
350
+ 1,
351
+ 1
352
+ ]
353
+ },
354
+ "color": [
355
+ 63,
356
+ 255,
357
+ 191
358
+ ]
359
+ }
360
+ ],
361
+ "partition": [
362
+ {
363
+ "object_id": "SM_PartitionB",
364
+ "bbox_2d": [
365
+ 690,
366
+ 0,
367
+ 792,
368
+ 1047
369
+ ],
370
+ "bbox_3d": {
371
+ "aabb": {
372
+ "center": [
373
+ 94.53710222244263,
374
+ 405.30000291611196,
375
+ 130.12950134277278
376
+ ],
377
+ "extent": [
378
+ 7.500146865844727,
379
+ 58.00030501750513,
380
+ 130.00008643502278
381
+ ]
382
+ },
383
+ "obb": {
384
+ "center": [
385
+ 94.53710222244263,
386
+ 405.30000291611196,
387
+ 130.12950134277278
388
+ ],
389
+ "extent": [
390
+ 7.500146865844727,
391
+ 58.00030501750513,
392
+ 130.00008643502278
393
+ ],
394
+ "rotation": [
395
+ 0,
396
+ 0,
397
+ 1.0017900422099046e-05
398
+ ]
399
+ },
400
+ "location": [
401
+ 94.53710174560547,
402
+ 405.29998779296875,
403
+ 0
404
+ ],
405
+ "rotation": [
406
+ 0,
407
+ 0,
408
+ 1.0017900422099046e-05
409
+ ],
410
+ "scale": [
411
+ 1,
412
+ 1,
413
+ 1
414
+ ]
415
+ },
416
+ "color": [
417
+ 127,
418
+ 191,
419
+ 0
420
+ ]
421
+ }
422
+ ],
423
+ "door": [
424
+ {
425
+ "object_id": "SM_DoorB",
426
+ "bbox_2d": [
427
+ 793,
428
+ 0,
429
+ 1141,
430
+ 1020
431
+ ],
432
+ "bbox_3d": {
433
+ "aabb": {
434
+ "center": [
435
+ 53.4721565246582,
436
+ 348.2986726760864,
437
+ 121.12959289550781
438
+ ],
439
+ "extent": [
440
+ 33.56492233276367,
441
+ 9.604825019836426,
442
+ 118.99999237060547
443
+ ]
444
+ },
445
+ "obb": {
446
+ "center": [
447
+ 53.4721565246582,
448
+ 348.2986726760864,
449
+ 121.12959289550781
450
+ ],
451
+ "extent": [
452
+ 33.56492233276367,
453
+ 9.604825019836426,
454
+ 118.99999237060547
455
+ ],
456
+ "rotation": [
457
+ 0,
458
+ 0,
459
+ 0
460
+ ]
461
+ },
462
+ "location": [
463
+ 84.53700256347656,
464
+ 347.7980041503906,
465
+ 0
466
+ ],
467
+ "rotation": [
468
+ 0,
469
+ 0,
470
+ 0
471
+ ],
472
+ "scale": [
473
+ 1,
474
+ 1,
475
+ 1
476
+ ]
477
+ },
478
+ "color": [
479
+ 127,
480
+ 191,
481
+ 255
482
+ ]
483
+ }
484
+ ]
485
+ },
486
+ "foreground": {
487
+ "wardrobe": [
488
+ {
489
+ "object_id": "SM_Wardrobe",
490
+ "bbox_2d": [
491
+ 1340,
492
+ 8,
493
+ 1721,
494
+ 846
495
+ ],
496
+ "bbox_3d": {
497
+ "aabb": {
498
+ "center": [
499
+ -175,
500
+ 403.299991607666,
501
+ 120
502
+ ],
503
+ "extent": [
504
+ 25,
505
+ 60.000003814697266,
506
+ 120
507
+ ]
508
+ },
509
+ "obb": {
510
+ "center": [
511
+ -175,
512
+ 403.299991607666,
513
+ 120
514
+ ],
515
+ "extent": [
516
+ 25,
517
+ 60.000003814697266,
518
+ 120
519
+ ],
520
+ "rotation": [
521
+ 0,
522
+ 0,
523
+ 0
524
+ ]
525
+ },
526
+ "location": [
527
+ -200,
528
+ 403.29998779296875,
529
+ 0
530
+ ],
531
+ "rotation": [
532
+ 0,
533
+ 0,
534
+ 0
535
+ ],
536
+ "scale": [
537
+ 1,
538
+ 1,
539
+ 1
540
+ ]
541
+ },
542
+ "color": [
543
+ 255,
544
+ 0,
545
+ 127
546
+ ]
547
+ }
548
+ ],
549
+ "cabinet": [
550
+ {
551
+ "object_id": "SM_CabinetA",
552
+ "bbox_2d": [
553
+ 1638,
554
+ 598,
555
+ 1919,
556
+ 797
557
+ ],
558
+ "bbox_3d": {
559
+ "aabb": {
560
+ "center": [
561
+ -175,
562
+ 273.2999954223633,
563
+ 40
564
+ ],
565
+ "extent": [
566
+ 25,
567
+ 69.99998474121094,
568
+ 40
569
+ ]
570
+ },
571
+ "obb": {
572
+ "center": [
573
+ -175,
574
+ 273.2999954223633,
575
+ 40
576
+ ],
577
+ "extent": [
578
+ 25,
579
+ 69.99998474121094,
580
+ 40
581
+ ],
582
+ "rotation": [
583
+ 0,
584
+ 0,
585
+ 0
586
+ ]
587
+ },
588
+ "location": [
589
+ -200,
590
+ 278.29998779296875,
591
+ 0
592
+ ],
593
+ "rotation": [
594
+ 0,
595
+ 0,
596
+ 0
597
+ ],
598
+ "scale": [
599
+ 1,
600
+ 1,
601
+ 1
602
+ ]
603
+ },
604
+ "color": [
605
+ 255,
606
+ 255,
607
+ 127
608
+ ]
609
+ }
610
+ ],
611
+ "wash basin": [
612
+ {
613
+ "object_id": "SM_Washbasin",
614
+ "bbox_2d": [
615
+ 573,
616
+ 558,
617
+ 1919,
618
+ 1079
619
+ ],
620
+ "bbox_3d": {
621
+ "aabb": {
622
+ "center": [
623
+ 95.55049896240234,
624
+ 219.06398582458496,
625
+ 48.390872192384904
626
+ ],
627
+ "extent": [
628
+ 84.44947814941406,
629
+ 24.235950469970703,
630
+ 48.390869140625
631
+ ]
632
+ },
633
+ "obb": {
634
+ "center": [
635
+ 95.55049896240234,
636
+ 219.06398582458496,
637
+ 48.390872192384904
638
+ ],
639
+ "extent": [
640
+ 84.44947814941406,
641
+ 24.235950469970703,
642
+ 48.390869140625
643
+ ],
644
+ "rotation": [
645
+ 0,
646
+ 0,
647
+ 0
648
+ ]
649
+ },
650
+ "location": [
651
+ 95.55049896240234,
652
+ 219.06399536132812,
653
+ 3.051759904337814e-06
654
+ ],
655
+ "rotation": [
656
+ 0,
657
+ 0,
658
+ 0
659
+ ],
660
+ "scale": [
661
+ 1,
662
+ 1,
663
+ 1
664
+ ]
665
+ },
666
+ "color": [
667
+ 255,
668
+ 63,
669
+ 0
670
+ ]
671
+ }
672
+ ],
673
+ "kettle": [
674
+ {
675
+ "object_id": "SM_Kettle",
676
+ "bbox_2d": [
677
+ 1797,
678
+ 471,
679
+ 1919,
680
+ 581
681
+ ],
682
+ "bbox_3d": {
683
+ "aabb": {
684
+ "center": [
685
+ -174.96100521087646,
686
+ 303.7879877090454,
687
+ 96.61308860778809
688
+ ],
689
+ "extent": [
690
+ 10.519744873046875,
691
+ 13.488739013671875,
692
+ 16.630197525024414
693
+ ]
694
+ },
695
+ "obb": {
696
+ "center": [
697
+ -174.96100521087646,
698
+ 303.7879877090454,
699
+ 96.61308860778809
700
+ ],
701
+ "extent": [
702
+ 10.519744873046875,
703
+ 13.488739013671875,
704
+ 16.630197525024414
705
+ ],
706
+ "rotation": [
707
+ 0,
708
+ 0,
709
+ 0
710
+ ]
711
+ },
712
+ "location": [
713
+ -174.96099853515625,
714
+ 303.7879943847656,
715
+ 79.98380279541016
716
+ ],
717
+ "rotation": [
718
+ 0,
719
+ 0,
720
+ 0
721
+ ],
722
+ "scale": [
723
+ 1,
724
+ 1,
725
+ 1
726
+ ]
727
+ },
728
+ "color": [
729
+ 63,
730
+ 63,
731
+ 255
732
+ ]
733
+ }
734
+ ],
735
+ "shelf": [
736
+ {
737
+ "object_id": "SM_Shelf",
738
+ "bbox_2d": [
739
+ 1684,
740
+ 252,
741
+ 1919,
742
+ 319
743
+ ],
744
+ "bbox_3d": {
745
+ "aabb": {
746
+ "center": [
747
+ -187.5,
748
+ 273.29998779296875,
749
+ 163.53599548339844
750
+ ],
751
+ "extent": [
752
+ 12.5,
753
+ 69.99999237060547,
754
+ 2
755
+ ]
756
+ },
757
+ "obb": {
758
+ "center": [
759
+ -187.5,
760
+ 273.29998779296875,
761
+ 163.53599548339844
762
+ ],
763
+ "extent": [
764
+ 12.5,
765
+ 69.99999237060547,
766
+ 2
767
+ ],
768
+ "rotation": [
769
+ 0,
770
+ 0,
771
+ 0
772
+ ]
773
+ },
774
+ "location": [
775
+ -200,
776
+ 273.29998779296875,
777
+ 161.53599548339844
778
+ ],
779
+ "rotation": [
780
+ 0,
781
+ 0,
782
+ 0
783
+ ],
784
+ "scale": [
785
+ 1,
786
+ 1,
787
+ 1
788
+ ]
789
+ },
790
+ "color": [
791
+ 63,
792
+ 127,
793
+ 191
794
+ ]
795
+ }
796
+ ],
797
+ "hardware": [
798
+ {
799
+ "object_id": "SM_HardwareB",
800
+ "bbox_2d": [
801
+ 1129,
802
+ 0,
803
+ 1152,
804
+ 932
805
+ ],
806
+ "bbox_3d": {
807
+ "aabb": {
808
+ "center": [
809
+ 17.907498836517348,
810
+ 347.3000652194023,
811
+ 130.1295928955078
812
+ ],
813
+ "extent": [
814
+ 5.000000000000015,
815
+ 1.0000789165496826,
816
+ 130
817
+ ]
818
+ },
819
+ "obb": {
820
+ "center": [
821
+ 17.907498836517348,
822
+ 347.3000652194023,
823
+ 130.1295928955078
824
+ ],
825
+ "extent": [
826
+ 5.000000000000015,
827
+ 1.0000789165496826,
828
+ 130
829
+ ],
830
+ "rotation": [
831
+ 0,
832
+ 89.99999999999999,
833
+ 180
834
+ ]
835
+ },
836
+ "location": [
837
+ 17.907499313354492,
838
+ 348.29998779296875,
839
+ 0
840
+ ],
841
+ "rotation": [
842
+ 0,
843
+ 89.99999999999999,
844
+ 180
845
+ ],
846
+ "scale": [
847
+ -1,
848
+ -1,
849
+ -1
850
+ ]
851
+ },
852
+ "color": [
853
+ 255,
854
+ 191,
855
+ 63
856
+ ]
857
+ }
858
+ ]
859
+ }
860
+ }
scenes/annotations/HotelRoomVol1/l029_r001/scene_annotations_split.json ADDED
@@ -0,0 +1,672 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l029_r001",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l029_r001/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -168,
8
+ 259,
9
+ 107
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
+ -168,
38
+ 259,
39
+ 107,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 954,
60
+ 20
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "wall": [
116
+ {
117
+ "object_id": "SM_WallD",
118
+ "bbox_2d": [
119
+ 391,
120
+ 0,
121
+ 968,
122
+ 1079
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ -119,
128
+ 338.29998779296875,
129
+ 140.00003051757812
130
+ ],
131
+ "extent": [
132
+ 101,
133
+ 145,
134
+ 140.00003051757812
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ -119,
140
+ 338.29998779296875,
141
+ 140.00003051757812
142
+ ],
143
+ "extent": [
144
+ 101,
145
+ 145,
146
+ 140.00003051757812
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ -119,
156
+ 338.29998779296875,
157
+ 0
158
+ ],
159
+ "rotation": [
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "scale": [
165
+ 1,
166
+ 1,
167
+ 1
168
+ ]
169
+ },
170
+ "color": [
171
+ 0,
172
+ 0,
173
+ 63
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_WallE",
178
+ "bbox_2d": [
179
+ 273,
180
+ 0,
181
+ 390,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 101,
188
+ 338.79998779296875,
189
+ 140.00003051757812
190
+ ],
191
+ "extent": [
192
+ 119,
193
+ 144.5,
194
+ 140.00003051757812
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 101,
200
+ 338.79998779296875,
201
+ 140.00003051757812
202
+ ],
203
+ "extent": [
204
+ 119,
205
+ 144.5,
206
+ 140.00003051757812
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 101,
216
+ 338.79998779296875,
217
+ 0
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
+ 63
234
+ ]
235
+ }
236
+ ],
237
+ "floor": [
238
+ {
239
+ "object_id": "SM_FloorA",
240
+ "bbox_2d": [
241
+ 0,
242
+ 957,
243
+ 1155,
244
+ 1079
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ 0,
250
+ 338.79998779296875,
251
+ -4.900002956390381
252
+ ],
253
+ "extent": [
254
+ 220,
255
+ 144.49998474121094,
256
+ 5.099997043609619
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ 0,
262
+ 338.79998779296875,
263
+ -4.900002956390381
264
+ ],
265
+ "extent": [
266
+ 220,
267
+ 144.49998474121094,
268
+ 5.099997043609619
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ 0,
278
+ 338.79998779296875,
279
+ 0
280
+ ],
281
+ "rotation": [
282
+ 0,
283
+ 0,
284
+ 0
285
+ ],
286
+ "scale": [
287
+ 1,
288
+ 1,
289
+ 1
290
+ ]
291
+ },
292
+ "color": [
293
+ 255,
294
+ 0,
295
+ 63
296
+ ]
297
+ }
298
+ ],
299
+ "door": [
300
+ {
301
+ "object_id": "SM_DoorA",
302
+ "bbox_2d": [
303
+ 969,
304
+ 0,
305
+ 1270,
306
+ 1004
307
+ ],
308
+ "bbox_3d": {
309
+ "aabb": {
310
+ "center": [
311
+ -99.04149246215226,
312
+ 469.8109707053685,
313
+ 120.44187164306231
314
+ ],
315
+ "extent": [
316
+ 45.91190087799756,
317
+ 7.500052451203317,
318
+ 120.44187295440872
319
+ ]
320
+ },
321
+ "obb": {
322
+ "center": [
323
+ -99.04149246215226,
324
+ 469.8109707053685,
325
+ 120.4418716430623
326
+ ],
327
+ "extent": [
328
+ 45.91190087799756,
329
+ 7.500052451203317,
330
+ 120.44187295440872
331
+ ],
332
+ "rotation": [
333
+ 0,
334
+ 1.0017900422099046e-05,
335
+ -1.0017900422099046e-05
336
+ ]
337
+ },
338
+ "location": [
339
+ -99.04149627685547,
340
+ 469.8110046386719,
341
+ 0
342
+ ],
343
+ "rotation": [
344
+ 0,
345
+ 1.0017900422099046e-05,
346
+ -1.0017900422099046e-05
347
+ ],
348
+ "scale": [
349
+ 1,
350
+ 1,
351
+ 1
352
+ ]
353
+ },
354
+ "color": [
355
+ 127,
356
+ 255,
357
+ 63
358
+ ]
359
+ },
360
+ {
361
+ "object_id": "SM_DoorB",
362
+ "bbox_2d": [
363
+ 95,
364
+ 0,
365
+ 272,
366
+ 1079
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ 53.4721565246582,
372
+ 348.2986726760864,
373
+ 121.12959289550781
374
+ ],
375
+ "extent": [
376
+ 33.56492233276367,
377
+ 9.604825019836426,
378
+ 118.99999237060547
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ 53.4721565246582,
384
+ 348.2986726760864,
385
+ 121.12959289550781
386
+ ],
387
+ "extent": [
388
+ 33.56492233276367,
389
+ 9.604825019836426,
390
+ 118.99999237060547
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ 84.53700256347656,
400
+ 347.7980041503906,
401
+ 0
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
+ 191,
417
+ 255
418
+ ]
419
+ }
420
+ ],
421
+ "partition": [
422
+ {
423
+ "object_id": "SM_PartitionB",
424
+ "bbox_2d": [
425
+ 99,
426
+ 0,
427
+ 139,
428
+ 1041
429
+ ],
430
+ "bbox_3d": {
431
+ "aabb": {
432
+ "center": [
433
+ 94.53710222244263,
434
+ 405.30000291611196,
435
+ 130.12950134277278
436
+ ],
437
+ "extent": [
438
+ 7.500146865844727,
439
+ 58.00030501750513,
440
+ 130.00008643502278
441
+ ]
442
+ },
443
+ "obb": {
444
+ "center": [
445
+ 94.53710222244263,
446
+ 405.30000291611196,
447
+ 130.12950134277278
448
+ ],
449
+ "extent": [
450
+ 7.500146865844727,
451
+ 58.00030501750513,
452
+ 130.00008643502278
453
+ ],
454
+ "rotation": [
455
+ 0,
456
+ 0,
457
+ 1.0017900422099046e-05
458
+ ]
459
+ },
460
+ "location": [
461
+ 94.53710174560547,
462
+ 405.29998779296875,
463
+ 0
464
+ ],
465
+ "rotation": [
466
+ 0,
467
+ 0,
468
+ 1.0017900422099046e-05
469
+ ],
470
+ "scale": [
471
+ 1,
472
+ 1,
473
+ 1
474
+ ]
475
+ },
476
+ "color": [
477
+ 127,
478
+ 191,
479
+ 0
480
+ ]
481
+ }
482
+ ]
483
+ },
484
+ "foreground": {
485
+ "wardrobe": [
486
+ {
487
+ "object_id": "SM_Wardrobe",
488
+ "bbox_2d": [
489
+ 1271,
490
+ 0,
491
+ 1919,
492
+ 885
493
+ ],
494
+ "bbox_3d": {
495
+ "aabb": {
496
+ "center": [
497
+ -175,
498
+ 403.299991607666,
499
+ 120
500
+ ],
501
+ "extent": [
502
+ 25,
503
+ 60.000003814697266,
504
+ 120
505
+ ]
506
+ },
507
+ "obb": {
508
+ "center": [
509
+ -175,
510
+ 403.299991607666,
511
+ 120
512
+ ],
513
+ "extent": [
514
+ 25,
515
+ 60.000003814697266,
516
+ 120
517
+ ],
518
+ "rotation": [
519
+ 0,
520
+ 0,
521
+ 0
522
+ ]
523
+ },
524
+ "location": [
525
+ -200,
526
+ 403.29998779296875,
527
+ 0
528
+ ],
529
+ "rotation": [
530
+ 0,
531
+ 0,
532
+ 0
533
+ ],
534
+ "scale": [
535
+ 1,
536
+ 1,
537
+ 1
538
+ ]
539
+ },
540
+ "color": [
541
+ 255,
542
+ 0,
543
+ 127
544
+ ]
545
+ }
546
+ ],
547
+ "cabinet": [
548
+ {
549
+ "object_id": "SM_CabinetA",
550
+ "bbox_2d": [
551
+ 1099,
552
+ 856,
553
+ 1458,
554
+ 1079
555
+ ],
556
+ "bbox_3d": {
557
+ "aabb": {
558
+ "center": [
559
+ -175,
560
+ 273.2999954223633,
561
+ 40
562
+ ],
563
+ "extent": [
564
+ 25,
565
+ 69.99998474121094,
566
+ 40
567
+ ]
568
+ },
569
+ "obb": {
570
+ "center": [
571
+ -175,
572
+ 273.2999954223633,
573
+ 40
574
+ ],
575
+ "extent": [
576
+ 25,
577
+ 69.99998474121094,
578
+ 40
579
+ ],
580
+ "rotation": [
581
+ 0,
582
+ 0,
583
+ 0
584
+ ]
585
+ },
586
+ "location": [
587
+ -200,
588
+ 278.29998779296875,
589
+ 0
590
+ ],
591
+ "rotation": [
592
+ 0,
593
+ 0,
594
+ 0
595
+ ],
596
+ "scale": [
597
+ 1,
598
+ 1,
599
+ 1
600
+ ]
601
+ },
602
+ "color": [
603
+ 255,
604
+ 255,
605
+ 127
606
+ ]
607
+ }
608
+ ],
609
+ "kettle": [
610
+ {
611
+ "object_id": "SM_Kettle",
612
+ "bbox_2d": [
613
+ 1447,
614
+ 304,
615
+ 1919,
616
+ 1079
617
+ ],
618
+ "bbox_3d": {
619
+ "aabb": {
620
+ "center": [
621
+ -174.96100521087646,
622
+ 303.7879877090454,
623
+ 96.61308860778809
624
+ ],
625
+ "extent": [
626
+ 10.519744873046875,
627
+ 13.488739013671875,
628
+ 16.630197525024414
629
+ ]
630
+ },
631
+ "obb": {
632
+ "center": [
633
+ -174.96100521087646,
634
+ 303.7879877090454,
635
+ 96.61308860778809
636
+ ],
637
+ "extent": [
638
+ 10.519744873046875,
639
+ 13.488739013671875,
640
+ 16.630197525024414
641
+ ],
642
+ "rotation": [
643
+ 0,
644
+ 0,
645
+ 0
646
+ ]
647
+ },
648
+ "location": [
649
+ -174.96099853515625,
650
+ 303.7879943847656,
651
+ 79.98380279541016
652
+ ],
653
+ "rotation": [
654
+ 0,
655
+ 0,
656
+ 0
657
+ ],
658
+ "scale": [
659
+ 1,
660
+ 1,
661
+ 1
662
+ ]
663
+ },
664
+ "color": [
665
+ 63,
666
+ 63,
667
+ 255
668
+ ]
669
+ }
670
+ ]
671
+ }
672
+ }
scenes/annotations/HotelRoomVol1/l031_r001/scene_annotations_split.json ADDED
@@ -0,0 +1,1588 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l031_r001",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l031_r001/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 97,
8
+ -386,
9
+ 135
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
+ 97,
38
+ -386,
39
+ 135,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 915,
58
+ 0,
59
+ 1919,
60
+ 384
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "background wall": [
116
+ {
117
+ "object_id": "SM_BackgroundwallC",
118
+ "bbox_2d": [
119
+ 853,
120
+ 0,
121
+ 1556,
122
+ 693
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 138.97036743164062,
128
+ -39.36470031738281,
129
+ 127.49999237060547
130
+ ],
131
+ "extent": [
132
+ 61.02964782714844,
133
+ 233.93521118164062,
134
+ 112.5
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 138.97036743164062,
140
+ -39.36470031738281,
141
+ 127.49999237060547
142
+ ],
143
+ "extent": [
144
+ 61.02964782714844,
145
+ 233.93521118164062,
146
+ 112.5
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 200,
156
+ -39.36470031738281,
157
+ 15
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
+ 127,
173
+ 255
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_BackgroundwallD",
178
+ "bbox_2d": [
179
+ 0,
180
+ 0,
181
+ 852,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 190,
188
+ -358.2999725341797,
189
+ 120.00002136230978
190
+ ],
191
+ "extent": [
192
+ 10.000007629394531,
193
+ 85.00000762939453,
194
+ 120.0000228881836
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 190,
200
+ -358.2999725341797,
201
+ 120.00002136230978
202
+ ],
203
+ "extent": [
204
+ 10.000007629394531,
205
+ 85.00000762939453,
206
+ 120.0000228881836
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 200,
216
+ -358.29998779296875,
217
+ 3.662109884317033e-05
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
+ 63
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_BackgroundwallA",
238
+ "bbox_2d": [
239
+ 853,
240
+ 583,
241
+ 1326,
242
+ 979
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 194.8563780784607,
248
+ -40.36479949951172,
249
+ 62.49999237060547
250
+ ],
251
+ "extent": [
252
+ 5.143621921539307,
253
+ 232.9352569580078,
254
+ 47.5
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 194.8563780784607,
260
+ -40.36479949951172,
261
+ 62.49999237060547
262
+ ],
263
+ "extent": [
264
+ 5.143621921539307,
265
+ 232.9352569580078,
266
+ 47.5
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 200,
276
+ -40.36479949951172,
277
+ 15
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
+ 63,
293
+ 255
294
+ ]
295
+ }
296
+ ],
297
+ "partition": [
298
+ {
299
+ "object_id": "SM_PartitionA",
300
+ "bbox_2d": [
301
+ 1591,
302
+ 313,
303
+ 1805,
304
+ 716
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 22.016599655151367,
310
+ 193.6980038881302,
311
+ 127.42579746246338
312
+ ],
313
+ "extent": [
314
+ 41.49184036254883,
315
+ 1.18369460105896,
316
+ 112.56279754638672
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 22.016599655151367,
322
+ 193.6980038881302,
323
+ 127.42579746246338
324
+ ],
325
+ "extent": [
326
+ 41.49184036254883,
327
+ 1.18369460105896,
328
+ 112.56279754638672
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 22.016599655151367,
338
+ 193.697998046875,
339
+ 14.86299991607666
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
+ 0
356
+ ]
357
+ }
358
+ ],
359
+ "wall lamp": [
360
+ {
361
+ "object_id": "SM_WallLamp",
362
+ "bbox_2d": [
363
+ 0,
364
+ 77,
365
+ 251,
366
+ 237
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ 176.98500061035156,
372
+ -364.8559875488281,
373
+ 159.677001953125
374
+ ],
375
+ "extent": [
376
+ 3,
377
+ 12.5,
378
+ 2.5
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ 176.98500061035156,
384
+ -364.8559875488281,
385
+ 159.677001953125
386
+ ],
387
+ "extent": [
388
+ 3,
389
+ 12.5,
390
+ 2.5
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ 179.98500061035156,
400
+ -364.8559875488281,
401
+ 159.677001953125
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
+ 255,
417
+ 127
418
+ ]
419
+ }
420
+ ],
421
+ "floor": [
422
+ {
423
+ "object_id": "SM_FloorA",
424
+ "bbox_2d": [
425
+ 1848,
426
+ 740,
427
+ 1919,
428
+ 787
429
+ ],
430
+ "bbox_3d": {
431
+ "aabb": {
432
+ "center": [
433
+ 0,
434
+ 338.79998779296875,
435
+ -4.900002956390381
436
+ ],
437
+ "extent": [
438
+ 220,
439
+ 144.49998474121094,
440
+ 5.099997043609619
441
+ ]
442
+ },
443
+ "obb": {
444
+ "center": [
445
+ 0,
446
+ 338.79998779296875,
447
+ -4.900002956390381
448
+ ],
449
+ "extent": [
450
+ 220,
451
+ 144.49998474121094,
452
+ 5.099997043609619
453
+ ],
454
+ "rotation": [
455
+ 0,
456
+ 0,
457
+ 0
458
+ ]
459
+ },
460
+ "location": [
461
+ 0,
462
+ 338.79998779296875,
463
+ 0
464
+ ],
465
+ "rotation": [
466
+ 0,
467
+ 0,
468
+ 0
469
+ ],
470
+ "scale": [
471
+ 1,
472
+ 1,
473
+ 1
474
+ ]
475
+ },
476
+ "color": [
477
+ 255,
478
+ 0,
479
+ 63
480
+ ]
481
+ }
482
+ ],
483
+ "door": [
484
+ {
485
+ "object_id": "SM_DoorA",
486
+ "bbox_2d": [
487
+ 1806,
488
+ 378,
489
+ 1919,
490
+ 745
491
+ ],
492
+ "bbox_3d": {
493
+ "aabb": {
494
+ "center": [
495
+ -99.04149246215226,
496
+ 469.8109707053685,
497
+ 120.44187164306231
498
+ ],
499
+ "extent": [
500
+ 45.91190087799756,
501
+ 7.500052451203317,
502
+ 120.44187295440872
503
+ ]
504
+ },
505
+ "obb": {
506
+ "center": [
507
+ -99.04149246215226,
508
+ 469.8109707053685,
509
+ 120.4418716430623
510
+ ],
511
+ "extent": [
512
+ 45.91190087799756,
513
+ 7.500052451203317,
514
+ 120.44187295440872
515
+ ],
516
+ "rotation": [
517
+ 0,
518
+ 1.0017900422099046e-05,
519
+ -1.0017900422099046e-05
520
+ ]
521
+ },
522
+ "location": [
523
+ -99.04149627685547,
524
+ 469.8110046386719,
525
+ 0
526
+ ],
527
+ "rotation": [
528
+ 0,
529
+ 1.0017900422099046e-05,
530
+ -1.0017900422099046e-05
531
+ ],
532
+ "scale": [
533
+ 1,
534
+ 1,
535
+ 1
536
+ ]
537
+ },
538
+ "color": [
539
+ 127,
540
+ 255,
541
+ 63
542
+ ]
543
+ },
544
+ {
545
+ "object_id": "SM_DoorB",
546
+ "bbox_2d": [
547
+ 1557,
548
+ 376,
549
+ 1590,
550
+ 639
551
+ ],
552
+ "bbox_3d": {
553
+ "aabb": {
554
+ "center": [
555
+ 53.4721565246582,
556
+ 348.2986726760864,
557
+ 121.12959289550781
558
+ ],
559
+ "extent": [
560
+ 33.56492233276367,
561
+ 9.604825019836426,
562
+ 118.99999237060547
563
+ ]
564
+ },
565
+ "obb": {
566
+ "center": [
567
+ 53.4721565246582,
568
+ 348.2986726760864,
569
+ 121.12959289550781
570
+ ],
571
+ "extent": [
572
+ 33.56492233276367,
573
+ 9.604825019836426,
574
+ 118.99999237060547
575
+ ],
576
+ "rotation": [
577
+ 0,
578
+ 0,
579
+ 0
580
+ ]
581
+ },
582
+ "location": [
583
+ 84.53700256347656,
584
+ 347.7980041503906,
585
+ 0
586
+ ],
587
+ "rotation": [
588
+ 0,
589
+ 0,
590
+ 0
591
+ ],
592
+ "scale": [
593
+ 1,
594
+ 1,
595
+ 1
596
+ ]
597
+ },
598
+ "color": [
599
+ 127,
600
+ 191,
601
+ 255
602
+ ]
603
+ }
604
+ ]
605
+ },
606
+ "foreground": {
607
+ "table": [
608
+ {
609
+ "object_id": "SM_TableC",
610
+ "bbox_2d": [
611
+ 1806,
612
+ 655,
613
+ 1834,
614
+ 732
615
+ ],
616
+ "bbox_3d": {
617
+ "aabb": {
618
+ "center": [
619
+ -9.646620750427246,
620
+ 219.05599975585938,
621
+ 40.0767922103405
622
+ ],
623
+ "extent": [
624
+ 20.747682571411133,
625
+ 24.091129302978516,
626
+ 39.9232292175293
627
+ ]
628
+ },
629
+ "obb": {
630
+ "center": [
631
+ -9.646620750427246,
632
+ 219.05599975585938,
633
+ 40.0767922103405
634
+ ],
635
+ "extent": [
636
+ 20.747682571411133,
637
+ 24.091129302978516,
638
+ 39.9232292175293
639
+ ],
640
+ "rotation": [
641
+ 0,
642
+ 0,
643
+ 0
644
+ ]
645
+ },
646
+ "location": [
647
+ -9.64663028717041,
648
+ 219.05599975585938,
649
+ 0.153562992811203
650
+ ],
651
+ "rotation": [
652
+ 0,
653
+ 0,
654
+ 0
655
+ ],
656
+ "scale": [
657
+ 1,
658
+ 1,
659
+ 1
660
+ ]
661
+ },
662
+ "color": [
663
+ 0,
664
+ 63,
665
+ 0
666
+ ]
667
+ }
668
+ ],
669
+ "tray": [
670
+ {
671
+ "object_id": "SM_TrayB",
672
+ "bbox_2d": [
673
+ 1806,
674
+ 646,
675
+ 1820,
676
+ 657
677
+ ],
678
+ "bbox_3d": {
679
+ "aabb": {
680
+ "center": [
681
+ -9.585789680480957,
682
+ 218.9920139312744,
683
+ 81.9322018623352
684
+ ],
685
+ "extent": [
686
+ 16.101682662963867,
687
+ 21.959720611572266,
688
+ 1.9322013854980469
689
+ ]
690
+ },
691
+ "obb": {
692
+ "center": [
693
+ -9.585789680480957,
694
+ 218.9920139312744,
695
+ 81.9322018623352
696
+ ],
697
+ "extent": [
698
+ 16.101682662963867,
699
+ 21.959720611572266,
700
+ 1.9322013854980469
701
+ ],
702
+ "rotation": [
703
+ 0,
704
+ 0,
705
+ 0
706
+ ]
707
+ },
708
+ "location": [
709
+ -9.585789680480957,
710
+ 218.99200439453125,
711
+ 80
712
+ ],
713
+ "rotation": [
714
+ 0,
715
+ 0,
716
+ 0
717
+ ],
718
+ "scale": [
719
+ 1,
720
+ 1,
721
+ 1
722
+ ]
723
+ },
724
+ "color": [
725
+ 0,
726
+ 63,
727
+ 255
728
+ ]
729
+ }
730
+ ],
731
+ "wash basin": [
732
+ {
733
+ "object_id": "SM_Washbasin",
734
+ "bbox_2d": [
735
+ 1557,
736
+ 639,
737
+ 1590,
738
+ 688
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ 95.55049896240234,
744
+ 219.06398582458496,
745
+ 48.390872192384904
746
+ ],
747
+ "extent": [
748
+ 84.44947814941406,
749
+ 24.235950469970703,
750
+ 48.390869140625
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ 95.55049896240234,
756
+ 219.06398582458496,
757
+ 48.390872192384904
758
+ ],
759
+ "extent": [
760
+ 84.44947814941406,
761
+ 24.235950469970703,
762
+ 48.390869140625
763
+ ],
764
+ "rotation": [
765
+ 0,
766
+ 0,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ 95.55049896240234,
772
+ 219.06399536132812,
773
+ 3.051759904337814e-06
774
+ ],
775
+ "rotation": [
776
+ 0,
777
+ 0,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 1,
782
+ 1,
783
+ 1
784
+ ]
785
+ },
786
+ "color": [
787
+ 255,
788
+ 63,
789
+ 0
790
+ ]
791
+ }
792
+ ],
793
+ "bedside lamp": [
794
+ {
795
+ "object_id": "SM_BedsideLampA",
796
+ "bbox_2d": [
797
+ 1238,
798
+ 131,
799
+ 1305,
800
+ 675
801
+ ],
802
+ "bbox_3d": {
803
+ "aabb": {
804
+ "center": [
805
+ 164.072998046875,
806
+ -71.39650249481201,
807
+ 189.79373931884766
808
+ ],
809
+ "extent": [
810
+ 10.348075866699219,
811
+ 10.34686279296875,
812
+ 96.69283294677734
813
+ ]
814
+ },
815
+ "obb": {
816
+ "center": [
817
+ 164.072998046875,
818
+ -71.39650249481201,
819
+ 189.79373931884766
820
+ ],
821
+ "extent": [
822
+ 10.348075866699219,
823
+ 10.34686279296875,
824
+ 96.69283294677734
825
+ ],
826
+ "rotation": [
827
+ 0,
828
+ 0,
829
+ 0
830
+ ]
831
+ },
832
+ "location": [
833
+ 164.072998046875,
834
+ -71.39649963378906,
835
+ 265
836
+ ],
837
+ "rotation": [
838
+ 0,
839
+ 0,
840
+ 0
841
+ ],
842
+ "scale": [
843
+ 1,
844
+ 1,
845
+ 1
846
+ ]
847
+ },
848
+ "color": [
849
+ 255,
850
+ 63,
851
+ 127
852
+ ]
853
+ },
854
+ {
855
+ "object_id": "SM_BedsideLampB",
856
+ "bbox_2d": [
857
+ 1313,
858
+ 615,
859
+ 1343,
860
+ 638
861
+ ],
862
+ "bbox_3d": {
863
+ "aabb": {
864
+ "center": [
865
+ 181.28752517700195,
866
+ 159.66537804278178,
867
+ 85.31887861472133
868
+ ],
869
+ "extent": [
870
+ 10.781476974487305,
871
+ 8.440744055382112,
872
+ 8.93765120269208
873
+ ]
874
+ },
875
+ "obb": {
876
+ "center": [
877
+ 181.28752517700195,
878
+ 159.66537804278178,
879
+ 85.31887861472133
880
+ ],
881
+ "extent": [
882
+ 10.781476974487305,
883
+ 8.440744055382112,
884
+ 8.93765120269208
885
+ ],
886
+ "rotation": [
887
+ 0,
888
+ 0,
889
+ 1.0017900422099046e-05
890
+ ]
891
+ },
892
+ "location": [
893
+ 192.06900024414062,
894
+ 162.18699645996094,
895
+ 88.33740234375
896
+ ],
897
+ "rotation": [
898
+ 0,
899
+ 0,
900
+ 1.0017900422099046e-05
901
+ ],
902
+ "scale": [
903
+ 1,
904
+ 1,
905
+ 1
906
+ ]
907
+ },
908
+ "color": [
909
+ 127,
910
+ 63,
911
+ 127
912
+ ]
913
+ }
914
+ ],
915
+ "sofa": [
916
+ {
917
+ "object_id": "SM_Sofa",
918
+ "bbox_2d": [
919
+ 582,
920
+ 925,
921
+ 997,
922
+ 1079
923
+ ],
924
+ "bbox_3d": {
925
+ "aabb": {
926
+ "center": [
927
+ 136.7830047607422,
928
+ -362.3440234041493,
929
+ 51.409241676326005
930
+ ],
931
+ "extent": [
932
+ 43.96183776855469,
933
+ 89.15413540365967,
934
+ 36.46275743999065
935
+ ]
936
+ },
937
+ "obb": {
938
+ "center": [
939
+ 136.7830047607422,
940
+ -362.3440234041493,
941
+ 51.409241676326
942
+ ],
943
+ "extent": [
944
+ 43.96183776855469,
945
+ 89.15413540365967,
946
+ 36.46275743999065
947
+ ],
948
+ "rotation": [
949
+ 0,
950
+ 0,
951
+ -1.0017900422099046e-05
952
+ ]
953
+ },
954
+ "location": [
955
+ 136.7830047607422,
956
+ -362.343994140625,
957
+ 14.946499824523926
958
+ ],
959
+ "rotation": [
960
+ 0,
961
+ 0,
962
+ -1.0017900422099046e-05
963
+ ],
964
+ "scale": [
965
+ 1,
966
+ 1,
967
+ 1
968
+ ]
969
+ },
970
+ "color": [
971
+ 127,
972
+ 63,
973
+ 0
974
+ ]
975
+ }
976
+ ],
977
+ "downlight": [
978
+ {
979
+ "object_id": "SM_Downlight",
980
+ "bbox_2d": [
981
+ 1867,
982
+ 369,
983
+ 1878,
984
+ 370
985
+ ],
986
+ "bbox_3d": {
987
+ "aabb": {
988
+ "center": [
989
+ -94.48179626464844,
990
+ 408.14199805259705,
991
+ 239.90361881256104
992
+ ],
993
+ "extent": [
994
+ 2.663709878921509,
995
+ 2.6637096405029297,
996
+ 0.12138538062572479
997
+ ]
998
+ },
999
+ "obb": {
1000
+ "center": [
1001
+ -94.48179626464844,
1002
+ 408.14199805259705,
1003
+ 239.90361881256104
1004
+ ],
1005
+ "extent": [
1006
+ 2.663709878921509,
1007
+ 2.6637096405029297,
1008
+ 0.12138538062572479
1009
+ ],
1010
+ "rotation": [
1011
+ 0,
1012
+ 0,
1013
+ 0
1014
+ ]
1015
+ },
1016
+ "location": [
1017
+ -94.48179626464844,
1018
+ 408.1419982910156,
1019
+ 240.02499389648438
1020
+ ],
1021
+ "rotation": [
1022
+ 0,
1023
+ 0,
1024
+ 0
1025
+ ],
1026
+ "scale": [
1027
+ 1,
1028
+ 1,
1029
+ 1
1030
+ ]
1031
+ },
1032
+ "color": [
1033
+ 63,
1034
+ 255,
1035
+ 255
1036
+ ]
1037
+ }
1038
+ ],
1039
+ "air conditioning": [
1040
+ {
1041
+ "object_id": "SM_AirConditioningA",
1042
+ "bbox_2d": [
1043
+ 1381,
1044
+ 256,
1045
+ 1919,
1046
+ 345
1047
+ ],
1048
+ "bbox_3d": {
1049
+ "aabb": {
1050
+ "center": [
1051
+ 10.882030487060547,
1052
+ 193.0000071823597,
1053
+ 251.44998836517334
1054
+ ],
1055
+ "extent": [
1056
+ 150.00003051757812,
1057
+ 0.30008038878440857,
1058
+ 8.791104316711426
1059
+ ]
1060
+ },
1061
+ "obb": {
1062
+ "center": [
1063
+ 10.882030487060547,
1064
+ 193.0000071823597,
1065
+ 251.44998836517334
1066
+ ],
1067
+ "extent": [
1068
+ 150.00003051757812,
1069
+ 0.30008038878440857,
1070
+ 8.791104316711426
1071
+ ],
1072
+ "rotation": [
1073
+ 0,
1074
+ 0,
1075
+ 0
1076
+ ]
1077
+ },
1078
+ "location": [
1079
+ 10.881999969482422,
1080
+ 193.3000030517578,
1081
+ 251.4499969482422
1082
+ ],
1083
+ "rotation": [
1084
+ 0,
1085
+ 0,
1086
+ 0
1087
+ ],
1088
+ "scale": [
1089
+ 1,
1090
+ 1,
1091
+ 1
1092
+ ]
1093
+ },
1094
+ "color": [
1095
+ 63,
1096
+ 127,
1097
+ 63
1098
+ ]
1099
+ },
1100
+ {
1101
+ "object_id": "SM_AirConditioningB",
1102
+ "bbox_2d": [
1103
+ 1806,
1104
+ 307,
1105
+ 1919,
1106
+ 324
1107
+ ],
1108
+ "bbox_3d": {
1109
+ "aabb": {
1110
+ "center": [
1111
+ -82.22164916992188,
1112
+ 213.48900699615479,
1113
+ 239.6999982893467
1114
+ ],
1115
+ "extent": [
1116
+ 56.89637756347656,
1117
+ 8.791104316711426,
1118
+ 0.30008044838905334
1119
+ ]
1120
+ },
1121
+ "obb": {
1122
+ "center": [
1123
+ -82.22164916992188,
1124
+ 213.48900699615479,
1125
+ 239.6999982893467
1126
+ ],
1127
+ "extent": [
1128
+ 56.89637756347656,
1129
+ 8.791104316711426,
1130
+ 0.30008044838905334
1131
+ ],
1132
+ "rotation": [
1133
+ 0,
1134
+ 0,
1135
+ 0
1136
+ ]
1137
+ },
1138
+ "location": [
1139
+ -80.90760040283203,
1140
+ 213.48899841308594,
1141
+ 240
1142
+ ],
1143
+ "rotation": [
1144
+ 0,
1145
+ 0,
1146
+ 0
1147
+ ],
1148
+ "scale": [
1149
+ 1,
1150
+ 1,
1151
+ 1
1152
+ ]
1153
+ },
1154
+ "color": [
1155
+ 63,
1156
+ 63,
1157
+ 0
1158
+ ]
1159
+ }
1160
+ ],
1161
+ "bed": [
1162
+ {
1163
+ "object_id": "SM_Bedc",
1164
+ "bbox_2d": [
1165
+ 1603,
1166
+ 686,
1167
+ 1826,
1168
+ 850
1169
+ ],
1170
+ "bbox_3d": {
1171
+ "aabb": {
1172
+ "center": [
1173
+ 42.59486770629883,
1174
+ 46.127655029296875,
1175
+ 55.7503662109375
1176
+ ],
1177
+ "extent": [
1178
+ 21.761241912841797,
1179
+ 86.27418518066406,
1180
+ 20.23805046081543
1181
+ ]
1182
+ },
1183
+ "obb": {
1184
+ "center": [
1185
+ 42.59486770629883,
1186
+ 46.127655029296875,
1187
+ 55.7503662109375
1188
+ ],
1189
+ "extent": [
1190
+ 21.761241912841797,
1191
+ 86.27418518066406,
1192
+ 20.23805046081543
1193
+ ],
1194
+ "rotation": [
1195
+ 0,
1196
+ 0,
1197
+ 0
1198
+ ]
1199
+ },
1200
+ "location": [
1201
+ 92.09200286865234,
1202
+ 45.683799743652344,
1203
+ 15
1204
+ ],
1205
+ "rotation": [
1206
+ 0,
1207
+ 0,
1208
+ 0
1209
+ ],
1210
+ "scale": [
1211
+ 1,
1212
+ 1,
1213
+ 1
1214
+ ]
1215
+ },
1216
+ "color": [
1217
+ 127,
1218
+ 191,
1219
+ 63
1220
+ ]
1221
+ },
1222
+ {
1223
+ "object_id": "SM_Beda",
1224
+ "bbox_2d": [
1225
+ 1250,
1226
+ 692,
1227
+ 1422,
1228
+ 811
1229
+ ],
1230
+ "bbox_3d": {
1231
+ "aabb": {
1232
+ "center": [
1233
+ 92.09200286865234,
1234
+ 45.683807373046875,
1235
+ 40.678226470947266
1236
+ ],
1237
+ "extent": [
1238
+ 97.79872131347656,
1239
+ 78.52067565917969,
1240
+ 25.705135345458984
1241
+ ]
1242
+ },
1243
+ "obb": {
1244
+ "center": [
1245
+ 92.09200286865234,
1246
+ 45.683807373046875,
1247
+ 40.678226470947266
1248
+ ],
1249
+ "extent": [
1250
+ 97.79872131347656,
1251
+ 78.52067565917969,
1252
+ 25.705135345458984
1253
+ ],
1254
+ "rotation": [
1255
+ 0,
1256
+ 0,
1257
+ 0
1258
+ ]
1259
+ },
1260
+ "location": [
1261
+ 92.09200286865234,
1262
+ 45.683799743652344,
1263
+ 15
1264
+ ],
1265
+ "rotation": [
1266
+ 0,
1267
+ 0,
1268
+ 0
1269
+ ],
1270
+ "scale": [
1271
+ 1,
1272
+ 1,
1273
+ 1
1274
+ ]
1275
+ },
1276
+ "color": [
1277
+ 63,
1278
+ 191,
1279
+ 255
1280
+ ]
1281
+ },
1282
+ {
1283
+ "object_id": "SM_Bedb",
1284
+ "bbox_2d": [
1285
+ 1401,
1286
+ 675,
1287
+ 1919,
1288
+ 864
1289
+ ],
1290
+ "bbox_3d": {
1291
+ "aabb": {
1292
+ "center": [
1293
+ 48.03324890136719,
1294
+ 46.497535705566406,
1295
+ 45.92771911621094
1296
+ ],
1297
+ "extent": [
1298
+ 82.77275848388672,
1299
+ 94.72562408447266,
1300
+ 31.081745147705078
1301
+ ]
1302
+ },
1303
+ "obb": {
1304
+ "center": [
1305
+ 48.03324890136719,
1306
+ 46.497535705566406,
1307
+ 45.92771911621094
1308
+ ],
1309
+ "extent": [
1310
+ 82.77275848388672,
1311
+ 94.72562408447266,
1312
+ 31.081745147705078
1313
+ ],
1314
+ "rotation": [
1315
+ 0,
1316
+ 0,
1317
+ 0
1318
+ ]
1319
+ },
1320
+ "location": [
1321
+ 92.09200286865234,
1322
+ 45.683799743652344,
1323
+ 15
1324
+ ],
1325
+ "rotation": [
1326
+ 0,
1327
+ 0,
1328
+ 0
1329
+ ],
1330
+ "scale": [
1331
+ 1,
1332
+ 1,
1333
+ 1
1334
+ ]
1335
+ },
1336
+ "color": [
1337
+ 63,
1338
+ 191,
1339
+ 127
1340
+ ]
1341
+ }
1342
+ ],
1343
+ "pillow": [
1344
+ {
1345
+ "object_id": "SM_PillowA",
1346
+ "bbox_2d": [
1347
+ 1241,
1348
+ 680,
1349
+ 1291,
1350
+ 730
1351
+ ],
1352
+ "bbox_3d": {
1353
+ "aabb": {
1354
+ "center": [
1355
+ 183.61700248718262,
1356
+ 44.53629684448242,
1357
+ 68.39539909362793
1358
+ ],
1359
+ "extent": [
1360
+ 7.069190502166748,
1361
+ 53.396400451660156,
1362
+ 8.051918983459473
1363
+ ]
1364
+ },
1365
+ "obb": {
1366
+ "center": [
1367
+ 183.61700248718262,
1368
+ 44.53629684448242,
1369
+ 68.39539909362793
1370
+ ],
1371
+ "extent": [
1372
+ 7.069190502166748,
1373
+ 53.396400451660156,
1374
+ 8.051918983459473
1375
+ ],
1376
+ "rotation": [
1377
+ 0,
1378
+ 0,
1379
+ 0
1380
+ ]
1381
+ },
1382
+ "location": [
1383
+ 183.61700439453125,
1384
+ 44.53630065917969,
1385
+ 68.39540100097656
1386
+ ],
1387
+ "rotation": [
1388
+ 0,
1389
+ 0,
1390
+ 0
1391
+ ],
1392
+ "scale": [
1393
+ 1,
1394
+ 1,
1395
+ 1
1396
+ ]
1397
+ },
1398
+ "color": [
1399
+ 63,
1400
+ 191,
1401
+ 0
1402
+ ]
1403
+ },
1404
+ {
1405
+ "object_id": "SM_PillowB",
1406
+ "bbox_2d": [
1407
+ 1246,
1408
+ 608,
1409
+ 1333,
1410
+ 728
1411
+ ],
1412
+ "bbox_3d": {
1413
+ "aabb": {
1414
+ "center": [
1415
+ 174.71600341796875,
1416
+ 47.130794525146484,
1417
+ 82.11799240112305
1418
+ ],
1419
+ "extent": [
1420
+ 14.708823204040527,
1421
+ 54.53270721435547,
1422
+ 20.160995483398438
1423
+ ]
1424
+ },
1425
+ "obb": {
1426
+ "center": [
1427
+ 174.71600341796875,
1428
+ 47.130794525146484,
1429
+ 82.11799240112305
1430
+ ],
1431
+ "extent": [
1432
+ 14.708823204040527,
1433
+ 54.53270721435547,
1434
+ 20.160995483398438
1435
+ ],
1436
+ "rotation": [
1437
+ 0,
1438
+ 0,
1439
+ 0
1440
+ ]
1441
+ },
1442
+ "location": [
1443
+ 174.71600341796875,
1444
+ 47.13079833984375,
1445
+ 82.11799621582031
1446
+ ],
1447
+ "rotation": [
1448
+ 0,
1449
+ 0,
1450
+ 0
1451
+ ],
1452
+ "scale": [
1453
+ 1,
1454
+ 1,
1455
+ 1
1456
+ ]
1457
+ },
1458
+ "color": [
1459
+ 63,
1460
+ 191,
1461
+ 63
1462
+ ]
1463
+ },
1464
+ {
1465
+ "object_id": "SM_PillowC",
1466
+ "bbox_2d": [
1467
+ 1306,
1468
+ 625,
1469
+ 1397,
1470
+ 731
1471
+ ],
1472
+ "bbox_3d": {
1473
+ "aabb": {
1474
+ "center": [
1475
+ 153.91199588775635,
1476
+ 45.196502685546875,
1477
+ 79.50050163269043
1478
+ ],
1479
+ "extent": [
1480
+ 11.88922119140625,
1481
+ 52.05424499511719,
1482
+ 15.85400390625
1483
+ ]
1484
+ },
1485
+ "obb": {
1486
+ "center": [
1487
+ 153.91199588775635,
1488
+ 45.196502685546875,
1489
+ 79.50050163269043
1490
+ ],
1491
+ "extent": [
1492
+ 11.88922119140625,
1493
+ 52.05424499511719,
1494
+ 15.85400390625
1495
+ ],
1496
+ "rotation": [
1497
+ 0,
1498
+ 0,
1499
+ 0
1500
+ ]
1501
+ },
1502
+ "location": [
1503
+ 153.91200256347656,
1504
+ 45.19649887084961,
1505
+ 79.50050354003906
1506
+ ],
1507
+ "rotation": [
1508
+ 0,
1509
+ 0,
1510
+ 0
1511
+ ],
1512
+ "scale": [
1513
+ 1,
1514
+ 1,
1515
+ 1
1516
+ ]
1517
+ },
1518
+ "color": [
1519
+ 0,
1520
+ 191,
1521
+ 191
1522
+ ]
1523
+ }
1524
+ ],
1525
+ "cover": [
1526
+ {
1527
+ "object_id": "SM_CoverA_0",
1528
+ "bbox_2d": [
1529
+ 1080,
1530
+ 0,
1531
+ 1311,
1532
+ 287
1533
+ ],
1534
+ "bbox_3d": {
1535
+ "aabb": {
1536
+ "center": [
1537
+ 0,
1538
+ 1.2206999599584378e-05,
1539
+ 289.99998474121094
1540
+ ],
1541
+ "extent": [
1542
+ 240,
1543
+ 483.3000183105469,
1544
+ 9.999954223632812
1545
+ ]
1546
+ },
1547
+ "obb": {
1548
+ "center": [
1549
+ 0,
1550
+ 1.2206999599584378e-05,
1551
+ 289.99998474121094
1552
+ ],
1553
+ "extent": [
1554
+ 240,
1555
+ 483.3000183105469,
1556
+ 9.999954223632812
1557
+ ],
1558
+ "rotation": [
1559
+ 0,
1560
+ 0,
1561
+ 0
1562
+ ]
1563
+ },
1564
+ "location": [
1565
+ 0,
1566
+ 1.2206999599584378e-05,
1567
+ 290
1568
+ ],
1569
+ "rotation": [
1570
+ 0,
1571
+ 0,
1572
+ 0
1573
+ ],
1574
+ "scale": [
1575
+ 1,
1576
+ 1,
1577
+ 1
1578
+ ]
1579
+ },
1580
+ "color": [
1581
+ 0,
1582
+ 31,
1583
+ 63
1584
+ ]
1585
+ }
1586
+ ]
1587
+ }
1588
+ }
scenes/annotations/HotelRoomVol1/l036_r000/scene_annotations_split.json ADDED
@@ -0,0 +1,1034 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l036_r000",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l036_r000/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -127,
8
+ -168,
9
+ 146
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
+ -127,
38
+ -168,
39
+ 146,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 356,
58
+ 0,
59
+ 1919,
60
+ 261
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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_CeilingB",
116
+ "bbox_2d": [
117
+ 0,
118
+ 0,
119
+ 630,
120
+ 258
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 0,
126
+ -358.29998779296875,
127
+ 238
128
+ ],
129
+ "extent": [
130
+ 180,
131
+ 85,
132
+ 2
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 0,
138
+ -358.29998779296875,
139
+ 238
140
+ ],
141
+ "extent": [
142
+ 180,
143
+ 85,
144
+ 2
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 0,
154
+ -358.29998779296875,
155
+ 236
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 127,
170
+ 255,
171
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "floor": [
176
+ {
177
+ "object_id": "SM_FloorC",
178
+ "bbox_2d": [
179
+ 1241,
180
+ 950,
181
+ 1509,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 0,
188
+ -134.23599243164062,
189
+ 7.499999523162842
190
+ ],
191
+ "extent": [
192
+ 200,
193
+ 329.0640563964844,
194
+ 7.500000476837158
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 0,
200
+ -134.23599243164062,
201
+ 7.499999523162842
202
+ ],
203
+ "extent": [
204
+ 200,
205
+ 329.0640563964844,
206
+ 7.500000476837158
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 0,
216
+ -134.23599243164062,
217
+ 0
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
+ 255,
233
+ 127
234
+ ]
235
+ }
236
+ ],
237
+ "background wall": [
238
+ {
239
+ "object_id": "SM_BackgroundwallC",
240
+ "bbox_2d": [
241
+ 649,
242
+ 262,
243
+ 1919,
244
+ 645
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ 138.97036743164062,
250
+ -39.36470031738281,
251
+ 127.49999237060547
252
+ ],
253
+ "extent": [
254
+ 61.02964782714844,
255
+ 233.93521118164062,
256
+ 112.5
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ 138.97036743164062,
262
+ -39.36470031738281,
263
+ 127.49999237060547
264
+ ],
265
+ "extent": [
266
+ 61.02964782714844,
267
+ 233.93521118164062,
268
+ 112.5
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ 200,
278
+ -39.36470031738281,
279
+ 15
280
+ ],
281
+ "rotation": [
282
+ 0,
283
+ 0,
284
+ 0
285
+ ],
286
+ "scale": [
287
+ 1,
288
+ 1,
289
+ 1
290
+ ]
291
+ },
292
+ "color": [
293
+ 255,
294
+ 127,
295
+ 255
296
+ ]
297
+ },
298
+ {
299
+ "object_id": "SM_BackgroundwallD",
300
+ "bbox_2d": [
301
+ 99,
302
+ 247,
303
+ 648,
304
+ 823
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 190,
310
+ -358.2999725341797,
311
+ 120.00002136230978
312
+ ],
313
+ "extent": [
314
+ 10.000007629394531,
315
+ 85.00000762939453,
316
+ 120.0000228881836
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 190,
322
+ -358.2999725341797,
323
+ 120.00002136230978
324
+ ],
325
+ "extent": [
326
+ 10.000007629394531,
327
+ 85.00000762939453,
328
+ 120.0000228881836
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 200,
338
+ -358.29998779296875,
339
+ 3.662109884317033e-05
340
+ ],
341
+ "rotation": [
342
+ 0,
343
+ 0,
344
+ 0
345
+ ],
346
+ "scale": [
347
+ 1,
348
+ 1,
349
+ 1
350
+ ]
351
+ },
352
+ "color": [
353
+ 0,
354
+ 127,
355
+ 63
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_BackgroundwallA",
360
+ "bbox_2d": [
361
+ 641,
362
+ 646,
363
+ 1919,
364
+ 855
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 194.8563780784607,
370
+ -40.36479949951172,
371
+ 62.49999237060547
372
+ ],
373
+ "extent": [
374
+ 5.143621921539307,
375
+ 232.9352569580078,
376
+ 47.5
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 194.8563780784607,
382
+ -40.36479949951172,
383
+ 62.49999237060547
384
+ ],
385
+ "extent": [
386
+ 5.143621921539307,
387
+ 232.9352569580078,
388
+ 47.5
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 200,
398
+ -40.36479949951172,
399
+ 15
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
+ 63,
415
+ 255
416
+ ]
417
+ }
418
+ ],
419
+ "wall lamp": [
420
+ {
421
+ "object_id": "SM_WallLamp",
422
+ "bbox_2d": [
423
+ 292,
424
+ 488,
425
+ 382,
426
+ 504
427
+ ],
428
+ "bbox_3d": {
429
+ "aabb": {
430
+ "center": [
431
+ 176.98500061035156,
432
+ -364.8559875488281,
433
+ 159.677001953125
434
+ ],
435
+ "extent": [
436
+ 3,
437
+ 12.5,
438
+ 2.5
439
+ ]
440
+ },
441
+ "obb": {
442
+ "center": [
443
+ 176.98500061035156,
444
+ -364.8559875488281,
445
+ 159.677001953125
446
+ ],
447
+ "extent": [
448
+ 3,
449
+ 12.5,
450
+ 2.5
451
+ ],
452
+ "rotation": [
453
+ 0,
454
+ 0,
455
+ 0
456
+ ]
457
+ },
458
+ "location": [
459
+ 179.98500061035156,
460
+ -364.8559875488281,
461
+ 159.677001953125
462
+ ],
463
+ "rotation": [
464
+ 0,
465
+ 0,
466
+ 0
467
+ ],
468
+ "scale": [
469
+ 1,
470
+ 1,
471
+ 1
472
+ ]
473
+ },
474
+ "color": [
475
+ 127,
476
+ 255,
477
+ 127
478
+ ]
479
+ }
480
+ ]
481
+ },
482
+ "foreground": {
483
+ "bedside lamp": [
484
+ {
485
+ "object_id": "SM_BedsideLampA",
486
+ "bbox_2d": [
487
+ 1243,
488
+ 146,
489
+ 1314,
490
+ 720
491
+ ],
492
+ "bbox_3d": {
493
+ "aabb": {
494
+ "center": [
495
+ 164.072998046875,
496
+ -71.39650249481201,
497
+ 189.79373931884766
498
+ ],
499
+ "extent": [
500
+ 10.348075866699219,
501
+ 10.34686279296875,
502
+ 96.69283294677734
503
+ ]
504
+ },
505
+ "obb": {
506
+ "center": [
507
+ 164.072998046875,
508
+ -71.39650249481201,
509
+ 189.79373931884766
510
+ ],
511
+ "extent": [
512
+ 10.348075866699219,
513
+ 10.34686279296875,
514
+ 96.69283294677734
515
+ ],
516
+ "rotation": [
517
+ 0,
518
+ 0,
519
+ 0
520
+ ]
521
+ },
522
+ "location": [
523
+ 164.072998046875,
524
+ -71.39649963378906,
525
+ 265
526
+ ],
527
+ "rotation": [
528
+ 0,
529
+ 0,
530
+ 0
531
+ ],
532
+ "scale": [
533
+ 1,
534
+ 1,
535
+ 1
536
+ ]
537
+ },
538
+ "color": [
539
+ 255,
540
+ 63,
541
+ 127
542
+ ]
543
+ }
544
+ ],
545
+ "sofa": [
546
+ {
547
+ "object_id": "SM_Sofa",
548
+ "bbox_2d": [
549
+ 0,
550
+ 735,
551
+ 629,
552
+ 1079
553
+ ],
554
+ "bbox_3d": {
555
+ "aabb": {
556
+ "center": [
557
+ 136.7830047607422,
558
+ -362.3440234041493,
559
+ 51.409241676326005
560
+ ],
561
+ "extent": [
562
+ 43.96183776855469,
563
+ 89.15413540365967,
564
+ 36.46275743999065
565
+ ]
566
+ },
567
+ "obb": {
568
+ "center": [
569
+ 136.7830047607422,
570
+ -362.3440234041493,
571
+ 51.409241676326
572
+ ],
573
+ "extent": [
574
+ 43.96183776855469,
575
+ 89.15413540365967,
576
+ 36.46275743999065
577
+ ],
578
+ "rotation": [
579
+ 0,
580
+ 0,
581
+ -1.0017900422099046e-05
582
+ ]
583
+ },
584
+ "location": [
585
+ 136.7830047607422,
586
+ -362.343994140625,
587
+ 14.946499824523926
588
+ ],
589
+ "rotation": [
590
+ 0,
591
+ 0,
592
+ -1.0017900422099046e-05
593
+ ],
594
+ "scale": [
595
+ 1,
596
+ 1,
597
+ 1
598
+ ]
599
+ },
600
+ "color": [
601
+ 127,
602
+ 63,
603
+ 0
604
+ ]
605
+ }
606
+ ],
607
+ "table": [
608
+ {
609
+ "object_id": "SM_TableA",
610
+ "bbox_2d": [
611
+ 0,
612
+ 949,
613
+ 3,
614
+ 981
615
+ ],
616
+ "bbox_3d": {
617
+ "aabb": {
618
+ "center": [
619
+ 44.800594329833984,
620
+ -387.695011138916,
621
+ 37.94319820404053
622
+ ],
623
+ "extent": [
624
+ 34.422569274902344,
625
+ 34.422569274902344,
626
+ 23.104700088500977
627
+ ]
628
+ },
629
+ "obb": {
630
+ "center": [
631
+ 44.800594329833984,
632
+ -387.695011138916,
633
+ 37.94319820404053
634
+ ],
635
+ "extent": [
636
+ 34.422569274902344,
637
+ 34.422569274902344,
638
+ 23.104700088500977
639
+ ],
640
+ "rotation": [
641
+ 0,
642
+ 0,
643
+ 0
644
+ ]
645
+ },
646
+ "location": [
647
+ 44.80059814453125,
648
+ -387.69500732421875,
649
+ 14.838500022888184
650
+ ],
651
+ "rotation": [
652
+ 0,
653
+ 0,
654
+ 0
655
+ ],
656
+ "scale": [
657
+ 1,
658
+ 1,
659
+ 1
660
+ ]
661
+ },
662
+ "color": [
663
+ 127,
664
+ 63,
665
+ 255
666
+ ]
667
+ }
668
+ ],
669
+ "bed": [
670
+ {
671
+ "object_id": "SM_Bedc",
672
+ "bbox_2d": [
673
+ 1607,
674
+ 899,
675
+ 1919,
676
+ 1079
677
+ ],
678
+ "bbox_3d": {
679
+ "aabb": {
680
+ "center": [
681
+ 42.59486770629883,
682
+ 46.127655029296875,
683
+ 55.7503662109375
684
+ ],
685
+ "extent": [
686
+ 21.761241912841797,
687
+ 86.27418518066406,
688
+ 20.23805046081543
689
+ ]
690
+ },
691
+ "obb": {
692
+ "center": [
693
+ 42.59486770629883,
694
+ 46.127655029296875,
695
+ 55.7503662109375
696
+ ],
697
+ "extent": [
698
+ 21.761241912841797,
699
+ 86.27418518066406,
700
+ 20.23805046081543
701
+ ],
702
+ "rotation": [
703
+ 0,
704
+ 0,
705
+ 0
706
+ ]
707
+ },
708
+ "location": [
709
+ 92.09200286865234,
710
+ 45.683799743652344,
711
+ 15
712
+ ],
713
+ "rotation": [
714
+ 0,
715
+ 0,
716
+ 0
717
+ ],
718
+ "scale": [
719
+ 1,
720
+ 1,
721
+ 1
722
+ ]
723
+ },
724
+ "color": [
725
+ 127,
726
+ 191,
727
+ 63
728
+ ]
729
+ },
730
+ {
731
+ "object_id": "SM_Beda",
732
+ "bbox_2d": [
733
+ 1380,
734
+ 804,
735
+ 1529,
736
+ 1003
737
+ ],
738
+ "bbox_3d": {
739
+ "aabb": {
740
+ "center": [
741
+ 92.09200286865234,
742
+ 45.683807373046875,
743
+ 40.678226470947266
744
+ ],
745
+ "extent": [
746
+ 97.79872131347656,
747
+ 78.52067565917969,
748
+ 25.705135345458984
749
+ ]
750
+ },
751
+ "obb": {
752
+ "center": [
753
+ 92.09200286865234,
754
+ 45.683807373046875,
755
+ 40.678226470947266
756
+ ],
757
+ "extent": [
758
+ 97.79872131347656,
759
+ 78.52067565917969,
760
+ 25.705135345458984
761
+ ],
762
+ "rotation": [
763
+ 0,
764
+ 0,
765
+ 0
766
+ ]
767
+ },
768
+ "location": [
769
+ 92.09200286865234,
770
+ 45.683799743652344,
771
+ 15
772
+ ],
773
+ "rotation": [
774
+ 0,
775
+ 0,
776
+ 0
777
+ ],
778
+ "scale": [
779
+ 1,
780
+ 1,
781
+ 1
782
+ ]
783
+ },
784
+ "color": [
785
+ 63,
786
+ 191,
787
+ 255
788
+ ]
789
+ },
790
+ {
791
+ "object_id": "SM_Bedb",
792
+ "bbox_2d": [
793
+ 1445,
794
+ 812,
795
+ 1919,
796
+ 1079
797
+ ],
798
+ "bbox_3d": {
799
+ "aabb": {
800
+ "center": [
801
+ 48.03324890136719,
802
+ 46.497535705566406,
803
+ 45.92771911621094
804
+ ],
805
+ "extent": [
806
+ 82.77275848388672,
807
+ 94.72562408447266,
808
+ 31.081745147705078
809
+ ]
810
+ },
811
+ "obb": {
812
+ "center": [
813
+ 48.03324890136719,
814
+ 46.497535705566406,
815
+ 45.92771911621094
816
+ ],
817
+ "extent": [
818
+ 82.77275848388672,
819
+ 94.72562408447266,
820
+ 31.081745147705078
821
+ ],
822
+ "rotation": [
823
+ 0,
824
+ 0,
825
+ 0
826
+ ]
827
+ },
828
+ "location": [
829
+ 92.09200286865234,
830
+ 45.683799743652344,
831
+ 15
832
+ ],
833
+ "rotation": [
834
+ 0,
835
+ 0,
836
+ 0
837
+ ],
838
+ "scale": [
839
+ 1,
840
+ 1,
841
+ 1
842
+ ]
843
+ },
844
+ "color": [
845
+ 63,
846
+ 191,
847
+ 127
848
+ ]
849
+ }
850
+ ],
851
+ "pillow": [
852
+ {
853
+ "object_id": "SM_PillowA",
854
+ "bbox_2d": [
855
+ 1448,
856
+ 755,
857
+ 1494,
858
+ 803
859
+ ],
860
+ "bbox_3d": {
861
+ "aabb": {
862
+ "center": [
863
+ 183.61700248718262,
864
+ 44.53629684448242,
865
+ 68.39539909362793
866
+ ],
867
+ "extent": [
868
+ 7.069190502166748,
869
+ 53.396400451660156,
870
+ 8.051918983459473
871
+ ]
872
+ },
873
+ "obb": {
874
+ "center": [
875
+ 183.61700248718262,
876
+ 44.53629684448242,
877
+ 68.39539909362793
878
+ ],
879
+ "extent": [
880
+ 7.069190502166748,
881
+ 53.396400451660156,
882
+ 8.051918983459473
883
+ ],
884
+ "rotation": [
885
+ 0,
886
+ 0,
887
+ 0
888
+ ]
889
+ },
890
+ "location": [
891
+ 183.61700439453125,
892
+ 44.53630065917969,
893
+ 68.39540100097656
894
+ ],
895
+ "rotation": [
896
+ 0,
897
+ 0,
898
+ 0
899
+ ],
900
+ "scale": [
901
+ 1,
902
+ 1,
903
+ 1
904
+ ]
905
+ },
906
+ "color": [
907
+ 63,
908
+ 191,
909
+ 0
910
+ ]
911
+ },
912
+ {
913
+ "object_id": "SM_PillowB",
914
+ "bbox_2d": [
915
+ 1450,
916
+ 673,
917
+ 1781,
918
+ 813
919
+ ],
920
+ "bbox_3d": {
921
+ "aabb": {
922
+ "center": [
923
+ 174.71600341796875,
924
+ 47.130794525146484,
925
+ 82.11799240112305
926
+ ],
927
+ "extent": [
928
+ 14.708823204040527,
929
+ 54.53270721435547,
930
+ 20.160995483398438
931
+ ]
932
+ },
933
+ "obb": {
934
+ "center": [
935
+ 174.71600341796875,
936
+ 47.130794525146484,
937
+ 82.11799240112305
938
+ ],
939
+ "extent": [
940
+ 14.708823204040527,
941
+ 54.53270721435547,
942
+ 20.160995483398438
943
+ ],
944
+ "rotation": [
945
+ 0,
946
+ 0,
947
+ 0
948
+ ]
949
+ },
950
+ "location": [
951
+ 174.71600341796875,
952
+ 47.13079833984375,
953
+ 82.11799621582031
954
+ ],
955
+ "rotation": [
956
+ 0,
957
+ 0,
958
+ 0
959
+ ],
960
+ "scale": [
961
+ 1,
962
+ 1,
963
+ 1
964
+ ]
965
+ },
966
+ "color": [
967
+ 63,
968
+ 191,
969
+ 63
970
+ ]
971
+ },
972
+ {
973
+ "object_id": "SM_PillowC",
974
+ "bbox_2d": [
975
+ 1490,
976
+ 707,
977
+ 1884,
978
+ 821
979
+ ],
980
+ "bbox_3d": {
981
+ "aabb": {
982
+ "center": [
983
+ 153.91199588775635,
984
+ 45.196502685546875,
985
+ 79.50050163269043
986
+ ],
987
+ "extent": [
988
+ 11.88922119140625,
989
+ 52.05424499511719,
990
+ 15.85400390625
991
+ ]
992
+ },
993
+ "obb": {
994
+ "center": [
995
+ 153.91199588775635,
996
+ 45.196502685546875,
997
+ 79.50050163269043
998
+ ],
999
+ "extent": [
1000
+ 11.88922119140625,
1001
+ 52.05424499511719,
1002
+ 15.85400390625
1003
+ ],
1004
+ "rotation": [
1005
+ 0,
1006
+ 0,
1007
+ 0
1008
+ ]
1009
+ },
1010
+ "location": [
1011
+ 153.91200256347656,
1012
+ 45.19649887084961,
1013
+ 79.50050354003906
1014
+ ],
1015
+ "rotation": [
1016
+ 0,
1017
+ 0,
1018
+ 0
1019
+ ],
1020
+ "scale": [
1021
+ 1,
1022
+ 1,
1023
+ 1
1024
+ ]
1025
+ },
1026
+ "color": [
1027
+ 0,
1028
+ 191,
1029
+ 191
1030
+ ]
1031
+ }
1032
+ ]
1033
+ }
1034
+ }
scenes/annotations/HotelRoomVol1/l042_r002/scene_annotations_split.json ADDED
@@ -0,0 +1,978 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l042_r002",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l042_r002/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -162,
8
+ -240,
9
+ 172
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
+ -162,
38
+ -240,
39
+ 172,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 659,
60
+ 429
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "wall": [
116
+ {
117
+ "object_id": "SM_WallA",
118
+ "bbox_2d": [
119
+ 513,
120
+ 0,
121
+ 1919,
122
+ 1079
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ -210,
128
+ -10,
129
+ 140.00003051757812
130
+ ],
131
+ "extent": [
132
+ 10,
133
+ 473.3000183105469,
134
+ 140.00003051757812
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ -210,
140
+ -10,
141
+ 140.00003051757812
142
+ ],
143
+ "extent": [
144
+ 10,
145
+ 473.3000183105469,
146
+ 140.00003051757812
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ -210,
156
+ -10,
157
+ 0
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
+ 127
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_WallD",
178
+ "bbox_2d": [
179
+ 37,
180
+ 362,
181
+ 484,
182
+ 989
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ -119,
188
+ 338.29998779296875,
189
+ 140.00003051757812
190
+ ],
191
+ "extent": [
192
+ 101,
193
+ 145,
194
+ 140.00003051757812
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ -119,
200
+ 338.29998779296875,
201
+ 140.00003051757812
202
+ ],
203
+ "extent": [
204
+ 101,
205
+ 145,
206
+ 140.00003051757812
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ -119,
216
+ 338.29998779296875,
217
+ 0
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
+ 0,
233
+ 63
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_WallE",
238
+ "bbox_2d": [
239
+ 0,
240
+ 387,
241
+ 36,
242
+ 925
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 101,
248
+ 338.79998779296875,
249
+ 140.00003051757812
250
+ ],
251
+ "extent": [
252
+ 119,
253
+ 144.5,
254
+ 140.00003051757812
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 101,
260
+ 338.79998779296875,
261
+ 140.00003051757812
262
+ ],
263
+ "extent": [
264
+ 119,
265
+ 144.5,
266
+ 140.00003051757812
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 101,
276
+ 338.79998779296875,
277
+ 0
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
+ 63
294
+ ]
295
+ }
296
+ ],
297
+ "floor": [
298
+ {
299
+ "object_id": "SM_FloorA",
300
+ "bbox_2d": [
301
+ 0,
302
+ 814,
303
+ 353,
304
+ 1058
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 0,
310
+ 338.79998779296875,
311
+ -4.900002956390381
312
+ ],
313
+ "extent": [
314
+ 220,
315
+ 144.49998474121094,
316
+ 5.099997043609619
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 0,
322
+ 338.79998779296875,
323
+ -4.900002956390381
324
+ ],
325
+ "extent": [
326
+ 220,
327
+ 144.49998474121094,
328
+ 5.099997043609619
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 0,
338
+ 338.79998779296875,
339
+ 0
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
+ 0,
355
+ 63
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_FloorB",
360
+ "bbox_2d": [
361
+ 0,
362
+ 974,
363
+ 446,
364
+ 1079
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 0,
370
+ -134.5,
371
+ -5
372
+ ],
373
+ "extent": [
374
+ 220,
375
+ 328.8000183105469,
376
+ 5
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 0,
382
+ -134.5,
383
+ -5
384
+ ],
385
+ "extent": [
386
+ 220,
387
+ 328.8000183105469,
388
+ 5
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 0,
398
+ -134.5,
399
+ 0
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
+ 255,
415
+ 63
416
+ ]
417
+ }
418
+ ],
419
+ "door": [
420
+ {
421
+ "object_id": "SM_DoorA",
422
+ "bbox_2d": [
423
+ 188,
424
+ 422,
425
+ 353,
426
+ 837
427
+ ],
428
+ "bbox_3d": {
429
+ "aabb": {
430
+ "center": [
431
+ -99.04149246215226,
432
+ 469.8109707053685,
433
+ 120.44187164306231
434
+ ],
435
+ "extent": [
436
+ 45.91190087799756,
437
+ 7.500052451203317,
438
+ 120.44187295440872
439
+ ]
440
+ },
441
+ "obb": {
442
+ "center": [
443
+ -99.04149246215226,
444
+ 469.8109707053685,
445
+ 120.4418716430623
446
+ ],
447
+ "extent": [
448
+ 45.91190087799756,
449
+ 7.500052451203317,
450
+ 120.44187295440872
451
+ ],
452
+ "rotation": [
453
+ 0,
454
+ 1.0017900422099046e-05,
455
+ -1.0017900422099046e-05
456
+ ]
457
+ },
458
+ "location": [
459
+ -99.04149627685547,
460
+ 469.8110046386719,
461
+ 0
462
+ ],
463
+ "rotation": [
464
+ 0,
465
+ 1.0017900422099046e-05,
466
+ -1.0017900422099046e-05
467
+ ],
468
+ "scale": [
469
+ 1,
470
+ 1,
471
+ 1
472
+ ]
473
+ },
474
+ "color": [
475
+ 127,
476
+ 255,
477
+ 63
478
+ ]
479
+ }
480
+ ]
481
+ },
482
+ "foreground": {
483
+ "hardware": [
484
+ {
485
+ "object_id": "SM_HardwareA",
486
+ "bbox_2d": [
487
+ 0,
488
+ 989,
489
+ 353,
490
+ 1059
491
+ ],
492
+ "bbox_3d": {
493
+ "aabb": {
494
+ "center": [
495
+ -83.47669982910156,
496
+ 193.8000030517578,
497
+ 0.09999998658895493
498
+ ],
499
+ "extent": [
500
+ 61.47671127319336,
501
+ 0.5,
502
+ 0.10000000149011612
503
+ ]
504
+ },
505
+ "obb": {
506
+ "center": [
507
+ -83.47669982910156,
508
+ 193.8000030517578,
509
+ 0.09999998658895493
510
+ ],
511
+ "extent": [
512
+ 61.47671127319336,
513
+ 0.5,
514
+ 0.10000000149011612
515
+ ],
516
+ "rotation": [
517
+ 0,
518
+ 0,
519
+ 0
520
+ ]
521
+ },
522
+ "location": [
523
+ -83.47669982910156,
524
+ 193.8000030517578,
525
+ 0
526
+ ],
527
+ "rotation": [
528
+ 0,
529
+ 0,
530
+ 0
531
+ ],
532
+ "scale": [
533
+ 1,
534
+ 1,
535
+ 1
536
+ ]
537
+ },
538
+ "color": [
539
+ 0,
540
+ 127,
541
+ 127
542
+ ]
543
+ }
544
+ ],
545
+ "drawer": [
546
+ {
547
+ "object_id": "SM_Drawer",
548
+ "bbox_2d": [
549
+ 429,
550
+ 791,
551
+ 576,
552
+ 1079
553
+ ],
554
+ "bbox_3d": {
555
+ "aabb": {
556
+ "center": [
557
+ -185.02699279785156,
558
+ -53.120384216308594,
559
+ 60.19429588317871
560
+ ],
561
+ "extent": [
562
+ 15,
563
+ 246.42047119140625,
564
+ 10
565
+ ]
566
+ },
567
+ "obb": {
568
+ "center": [
569
+ -185.02699279785156,
570
+ -53.120384216308594,
571
+ 60.19429588317871
572
+ ],
573
+ "extent": [
574
+ 15,
575
+ 246.42047119140625,
576
+ 10
577
+ ],
578
+ "rotation": [
579
+ 0,
580
+ 0,
581
+ 0
582
+ ]
583
+ },
584
+ "location": [
585
+ -200.02699279785156,
586
+ -53.120399475097656,
587
+ 50.19430160522461
588
+ ],
589
+ "rotation": [
590
+ 0,
591
+ 0,
592
+ 0
593
+ ],
594
+ "scale": [
595
+ 1,
596
+ 1,
597
+ 1
598
+ ]
599
+ },
600
+ "color": [
601
+ 255,
602
+ 127,
603
+ 127
604
+ ]
605
+ }
606
+ ],
607
+ "tv background wall": [
608
+ {
609
+ "object_id": "SM_TVBackgroundwall",
610
+ "bbox_2d": [
611
+ 485,
612
+ 0,
613
+ 1179,
614
+ 1079
615
+ ],
616
+ "bbox_3d": {
617
+ "aabb": {
618
+ "center": [
619
+ -194.99996089935303,
620
+ -2.927030086517334,
621
+ 120.00000762939453
622
+ ],
623
+ "extent": [
624
+ 5.000057220458984,
625
+ 196.22706604003906,
626
+ 119.99999237060547
627
+ ]
628
+ },
629
+ "obb": {
630
+ "center": [
631
+ -194.99996089935303,
632
+ -2.927030086517334,
633
+ 120.00000762939453
634
+ ],
635
+ "extent": [
636
+ 5.000057220458984,
637
+ 196.22706604003906,
638
+ 119.99999237060547
639
+ ],
640
+ "rotation": [
641
+ 0,
642
+ 0,
643
+ 0
644
+ ]
645
+ },
646
+ "location": [
647
+ -200,
648
+ -2.927030086517334,
649
+ 0
650
+ ],
651
+ "rotation": [
652
+ 0,
653
+ 0,
654
+ 0
655
+ ],
656
+ "scale": [
657
+ 1,
658
+ 1,
659
+ 1
660
+ ]
661
+ },
662
+ "color": [
663
+ 127,
664
+ 255,
665
+ 0
666
+ ]
667
+ }
668
+ ],
669
+ "tv": [
670
+ {
671
+ "object_id": "SM_TV",
672
+ "bbox_2d": [
673
+ 531,
674
+ 550,
675
+ 756,
676
+ 1079
677
+ ],
678
+ "bbox_3d": {
679
+ "aabb": {
680
+ "center": [
681
+ -191.59167134761813,
682
+ -58.649101053747344,
683
+ 122.68900299072266
684
+ ],
685
+ "extent": [
686
+ 1.164358076520415,
687
+ 93.73062917086345,
688
+ 46.75914001464844
689
+ ]
690
+ },
691
+ "obb": {
692
+ "center": [
693
+ -191.59167134761813,
694
+ -58.649101053747344,
695
+ 122.68900299072266
696
+ ],
697
+ "extent": [
698
+ 1.164358076520415,
699
+ 93.73062917086345,
700
+ 46.75914001464844
701
+ ],
702
+ "rotation": [
703
+ 0,
704
+ 1.0017900422099046e-05,
705
+ 0
706
+ ]
707
+ },
708
+ "location": [
709
+ -192.75599670410156,
710
+ -58.64910125732422,
711
+ 122.68900299072266
712
+ ],
713
+ "rotation": [
714
+ 0,
715
+ 1.0017900422099046e-05,
716
+ 0
717
+ ],
718
+ "scale": [
719
+ 1,
720
+ 1,
721
+ 1
722
+ ]
723
+ },
724
+ "color": [
725
+ 127,
726
+ 127,
727
+ 63
728
+ ]
729
+ }
730
+ ],
731
+ "downlight": [
732
+ {
733
+ "object_id": "SM_Downlight",
734
+ "bbox_2d": [
735
+ 259,
736
+ 416,
737
+ 269,
738
+ 416
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ -94.48179626464844,
744
+ 408.14199805259705,
745
+ 239.90361881256104
746
+ ],
747
+ "extent": [
748
+ 2.663709878921509,
749
+ 2.6637096405029297,
750
+ 0.12138538062572479
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ -94.48179626464844,
756
+ 408.14199805259705,
757
+ 239.90361881256104
758
+ ],
759
+ "extent": [
760
+ 2.663709878921509,
761
+ 2.6637096405029297,
762
+ 0.12138538062572479
763
+ ],
764
+ "rotation": [
765
+ 0,
766
+ 0,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ -94.48179626464844,
772
+ 408.1419982910156,
773
+ 240.02499389648438
774
+ ],
775
+ "rotation": [
776
+ 0,
777
+ 0,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 1,
782
+ 1,
783
+ 1
784
+ ]
785
+ },
786
+ "color": [
787
+ 63,
788
+ 255,
789
+ 255
790
+ ]
791
+ }
792
+ ],
793
+ "air conditioning": [
794
+ {
795
+ "object_id": "SM_AirConditioningA",
796
+ "bbox_2d": [
797
+ 0,
798
+ 273,
799
+ 335,
800
+ 353
801
+ ],
802
+ "bbox_3d": {
803
+ "aabb": {
804
+ "center": [
805
+ 10.882030487060547,
806
+ 193.0000071823597,
807
+ 251.44998836517334
808
+ ],
809
+ "extent": [
810
+ 150.00003051757812,
811
+ 0.30008038878440857,
812
+ 8.791104316711426
813
+ ]
814
+ },
815
+ "obb": {
816
+ "center": [
817
+ 10.882030487060547,
818
+ 193.0000071823597,
819
+ 251.44998836517334
820
+ ],
821
+ "extent": [
822
+ 150.00003051757812,
823
+ 0.30008038878440857,
824
+ 8.791104316711426
825
+ ],
826
+ "rotation": [
827
+ 0,
828
+ 0,
829
+ 0
830
+ ]
831
+ },
832
+ "location": [
833
+ 10.881999969482422,
834
+ 193.3000030517578,
835
+ 251.4499969482422
836
+ ],
837
+ "rotation": [
838
+ 0,
839
+ 0,
840
+ 0
841
+ ],
842
+ "scale": [
843
+ 1,
844
+ 1,
845
+ 1
846
+ ]
847
+ },
848
+ "color": [
849
+ 63,
850
+ 127,
851
+ 63
852
+ ]
853
+ },
854
+ {
855
+ "object_id": "SM_AirConditioningB",
856
+ "bbox_2d": [
857
+ 0,
858
+ 340,
859
+ 340,
860
+ 373
861
+ ],
862
+ "bbox_3d": {
863
+ "aabb": {
864
+ "center": [
865
+ -82.22164916992188,
866
+ 213.48900699615479,
867
+ 239.6999982893467
868
+ ],
869
+ "extent": [
870
+ 56.89637756347656,
871
+ 8.791104316711426,
872
+ 0.30008044838905334
873
+ ]
874
+ },
875
+ "obb": {
876
+ "center": [
877
+ -82.22164916992188,
878
+ 213.48900699615479,
879
+ 239.6999982893467
880
+ ],
881
+ "extent": [
882
+ 56.89637756347656,
883
+ 8.791104316711426,
884
+ 0.30008044838905334
885
+ ],
886
+ "rotation": [
887
+ 0,
888
+ 0,
889
+ 0
890
+ ]
891
+ },
892
+ "location": [
893
+ -80.90760040283203,
894
+ 213.48899841308594,
895
+ 240
896
+ ],
897
+ "rotation": [
898
+ 0,
899
+ 0,
900
+ 0
901
+ ],
902
+ "scale": [
903
+ 1,
904
+ 1,
905
+ 1
906
+ ]
907
+ },
908
+ "color": [
909
+ 63,
910
+ 63,
911
+ 0
912
+ ]
913
+ }
914
+ ],
915
+ "picture": [
916
+ {
917
+ "object_id": "SM_Picture",
918
+ "bbox_2d": [
919
+ 1620,
920
+ 0,
921
+ 1919,
922
+ 446
923
+ ],
924
+ "bbox_3d": {
925
+ "aabb": {
926
+ "center": [
927
+ -199.76694284379482,
928
+ -235.24699306488037,
929
+ 193.97799110412598
930
+ ],
931
+ "extent": [
932
+ 0.22517012059688568,
933
+ 13.180268287658691,
934
+ 18.640668869018555
935
+ ]
936
+ },
937
+ "obb": {
938
+ "center": [
939
+ -199.76694284379482,
940
+ -235.24699306488037,
941
+ 193.97799110412598
942
+ ],
943
+ "extent": [
944
+ 0.22517012059688568,
945
+ 13.180268287658691,
946
+ 18.640668869018555
947
+ ],
948
+ "rotation": [
949
+ 0,
950
+ 0,
951
+ 0
952
+ ]
953
+ },
954
+ "location": [
955
+ -199.99200439453125,
956
+ -235.2469940185547,
957
+ 193.97799682617188
958
+ ],
959
+ "rotation": [
960
+ 0,
961
+ 0,
962
+ 0
963
+ ],
964
+ "scale": [
965
+ 1,
966
+ 1,
967
+ 1
968
+ ]
969
+ },
970
+ "color": [
971
+ 127,
972
+ 0,
973
+ 191
974
+ ]
975
+ }
976
+ ]
977
+ }
978
+ }
scenes/annotations/HotelRoomVol1/l056_r005/scene_annotations_split.json ADDED
@@ -0,0 +1,1038 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l056_r005",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l056_r005/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 66,
8
+ 296,
9
+ 143
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
+ 66,
38
+ 296,
39
+ 143,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 374,
58
+ 0,
59
+ 543,
60
+ 362
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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_CeilingB",
116
+ "bbox_2d": [
117
+ 374,
118
+ 348,
119
+ 543,
120
+ 408
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 0,
126
+ -358.29998779296875,
127
+ 238
128
+ ],
129
+ "extent": [
130
+ 180,
131
+ 85,
132
+ 2
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 0,
138
+ -358.29998779296875,
139
+ 238
140
+ ],
141
+ "extent": [
142
+ 180,
143
+ 85,
144
+ 2
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 0,
154
+ -358.29998779296875,
155
+ 236
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 127,
170
+ 255,
171
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "wall": [
176
+ {
177
+ "object_id": "SM_WallF",
178
+ "bbox_2d": [
179
+ 547,
180
+ 0,
181
+ 1325,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 128.97000122070312,
188
+ 198.9349913597107,
189
+ 120
190
+ ],
191
+ "extent": [
192
+ 51.02964401245117,
193
+ 4.364752292633057,
194
+ 120
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 128.97000122070312,
200
+ 198.9349913597107,
201
+ 120
202
+ ],
203
+ "extent": [
204
+ 51.02964401245117,
205
+ 4.364752292633057,
206
+ 120
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 128.97000122070312,
216
+ 198.93499755859375,
217
+ 0
218
+ ],
219
+ "rotation": [
220
+ 0,
221
+ 0,
222
+ 0
223
+ ],
224
+ "scale": [
225
+ 1,
226
+ 1,
227
+ 1
228
+ ]
229
+ },
230
+ "color": [
231
+ 0,
232
+ 127,
233
+ 0
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_WallE",
238
+ "bbox_2d": [
239
+ 1326,
240
+ 0,
241
+ 1919,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 101,
248
+ 338.79998779296875,
249
+ 140.00003051757812
250
+ ],
251
+ "extent": [
252
+ 119,
253
+ 144.5,
254
+ 140.00003051757812
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 101,
260
+ 338.79998779296875,
261
+ 140.00003051757812
262
+ ],
263
+ "extent": [
264
+ 119,
265
+ 144.5,
266
+ 140.00003051757812
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 101,
276
+ 338.79998779296875,
277
+ 0
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
+ 63
294
+ ]
295
+ }
296
+ ],
297
+ "background wall": [
298
+ {
299
+ "object_id": "SM_BackgroundwallC",
300
+ "bbox_2d": [
301
+ 544,
302
+ 0,
303
+ 546,
304
+ 1079
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 138.97036743164062,
310
+ -39.36470031738281,
311
+ 127.49999237060547
312
+ ],
313
+ "extent": [
314
+ 61.02964782714844,
315
+ 233.93521118164062,
316
+ 112.5
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 138.97036743164062,
322
+ -39.36470031738281,
323
+ 127.49999237060547
324
+ ],
325
+ "extent": [
326
+ 61.02964782714844,
327
+ 233.93521118164062,
328
+ 112.5
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 200,
338
+ -39.36470031738281,
339
+ 15
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
+ "partition": [
360
+ {
361
+ "object_id": "SM_PartitionA",
362
+ "bbox_2d": [
363
+ 0,
364
+ 0,
365
+ 373,
366
+ 1079
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ 22.016599655151367,
372
+ 193.6980038881302,
373
+ 127.42579746246338
374
+ ],
375
+ "extent": [
376
+ 41.49184036254883,
377
+ 1.18369460105896,
378
+ 112.56279754638672
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ 22.016599655151367,
384
+ 193.6980038881302,
385
+ 127.42579746246338
386
+ ],
387
+ "extent": [
388
+ 41.49184036254883,
389
+ 1.18369460105896,
390
+ 112.56279754638672
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ 22.016599655151367,
400
+ 193.697998046875,
401
+ 14.86299991607666
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
+ 0,
417
+ 0
418
+ ]
419
+ }
420
+ ],
421
+ "window": [
422
+ {
423
+ "object_id": "SM_Window",
424
+ "bbox_2d": [
425
+ 374,
426
+ 399,
427
+ 498,
428
+ 686
429
+ ],
430
+ "bbox_3d": {
431
+ "aabb": {
432
+ "center": [
433
+ 0,
434
+ -475.700008392334,
435
+ 125
436
+ ],
437
+ "extent": [
438
+ 200,
439
+ 2.9999682903289795,
440
+ 114.99999237060547
441
+ ]
442
+ },
443
+ "obb": {
444
+ "center": [
445
+ 0,
446
+ -475.700008392334,
447
+ 125
448
+ ],
449
+ "extent": [
450
+ 200,
451
+ 2.9999682903289795,
452
+ 114.99999237060547
453
+ ],
454
+ "rotation": [
455
+ 0,
456
+ 0,
457
+ 0
458
+ ]
459
+ },
460
+ "location": [
461
+ 0,
462
+ -475.70001220703125,
463
+ 125
464
+ ],
465
+ "rotation": [
466
+ 0,
467
+ 0,
468
+ 0
469
+ ],
470
+ "scale": [
471
+ 1,
472
+ 1,
473
+ 1
474
+ ]
475
+ },
476
+ "color": [
477
+ 127,
478
+ 0,
479
+ 63
480
+ ]
481
+ }
482
+ ]
483
+ },
484
+ "foreground": {
485
+ "mirror": [
486
+ {
487
+ "object_id": "SM_MirrorA",
488
+ "bbox_2d": [
489
+ 0,
490
+ 0,
491
+ 268,
492
+ 1071
493
+ ],
494
+ "bbox_3d": {
495
+ "aabb": {
496
+ "center": [
497
+ 37.09349822998047,
498
+ 199.33099222183228,
499
+ 159.95723724365234
500
+ ],
501
+ "extent": [
502
+ 19.08675765991211,
503
+ 2.701951503753662,
504
+ 80.14777374267578
505
+ ]
506
+ },
507
+ "obb": {
508
+ "center": [
509
+ 37.09349822998047,
510
+ 199.33099222183228,
511
+ 159.95723724365234
512
+ ],
513
+ "extent": [
514
+ 19.08675765991211,
515
+ 2.701951503753662,
516
+ 80.14777374267578
517
+ ],
518
+ "rotation": [
519
+ 0,
520
+ 0,
521
+ 0
522
+ ]
523
+ },
524
+ "location": [
525
+ 37.09349822998047,
526
+ 199.33099365234375,
527
+ 240.10499572753906
528
+ ],
529
+ "rotation": [
530
+ 0,
531
+ 0,
532
+ 0
533
+ ],
534
+ "scale": [
535
+ 1,
536
+ 1,
537
+ 1
538
+ ]
539
+ },
540
+ "color": [
541
+ 0,
542
+ 63,
543
+ 127
544
+ ]
545
+ },
546
+ {
547
+ "object_id": "SM_MirrorB",
548
+ "bbox_2d": [
549
+ 628,
550
+ 0,
551
+ 1175,
552
+ 989
553
+ ],
554
+ "bbox_3d": {
555
+ "aabb": {
556
+ "center": [
557
+ 114.44399833679199,
558
+ 206.85928058624268,
559
+ 150.5089988708496
560
+ ],
561
+ "extent": [
562
+ 30.528072357177734,
563
+ 3.559281826019287,
564
+ 46.49998092651367
565
+ ]
566
+ },
567
+ "obb": {
568
+ "center": [
569
+ 114.44399833679199,
570
+ 206.85928058624268,
571
+ 150.5089988708496
572
+ ],
573
+ "extent": [
574
+ 30.528072357177734,
575
+ 3.559281826019287,
576
+ 46.49998092651367
577
+ ],
578
+ "rotation": [
579
+ 0,
580
+ 0,
581
+ 0
582
+ ]
583
+ },
584
+ "location": [
585
+ 114.44400024414062,
586
+ 203.3000030517578,
587
+ 150.50900268554688
588
+ ],
589
+ "rotation": [
590
+ 0,
591
+ 0,
592
+ 0
593
+ ],
594
+ "scale": [
595
+ 1,
596
+ 1,
597
+ 1
598
+ ]
599
+ },
600
+ "color": [
601
+ 255,
602
+ 63,
603
+ 63
604
+ ]
605
+ }
606
+ ],
607
+ "wash basin": [
608
+ {
609
+ "object_id": "SM_Washbasin",
610
+ "bbox_2d": [
611
+ 926,
612
+ 981,
613
+ 1532,
614
+ 1079
615
+ ],
616
+ "bbox_3d": {
617
+ "aabb": {
618
+ "center": [
619
+ 95.55049896240234,
620
+ 219.06398582458496,
621
+ 48.390872192384904
622
+ ],
623
+ "extent": [
624
+ 84.44947814941406,
625
+ 24.235950469970703,
626
+ 48.390869140625
627
+ ]
628
+ },
629
+ "obb": {
630
+ "center": [
631
+ 95.55049896240234,
632
+ 219.06398582458496,
633
+ 48.390872192384904
634
+ ],
635
+ "extent": [
636
+ 84.44947814941406,
637
+ 24.235950469970703,
638
+ 48.390869140625
639
+ ],
640
+ "rotation": [
641
+ 0,
642
+ 0,
643
+ 0
644
+ ]
645
+ },
646
+ "location": [
647
+ 95.55049896240234,
648
+ 219.06399536132812,
649
+ 3.051759904337814e-06
650
+ ],
651
+ "rotation": [
652
+ 0,
653
+ 0,
654
+ 0
655
+ ],
656
+ "scale": [
657
+ 1,
658
+ 1,
659
+ 1
660
+ ]
661
+ },
662
+ "color": [
663
+ 255,
664
+ 63,
665
+ 0
666
+ ]
667
+ }
668
+ ],
669
+ "sofa": [
670
+ {
671
+ "object_id": "SM_Sofa",
672
+ "bbox_2d": [
673
+ 475,
674
+ 620,
675
+ 543,
676
+ 676
677
+ ],
678
+ "bbox_3d": {
679
+ "aabb": {
680
+ "center": [
681
+ 136.7830047607422,
682
+ -362.3440234041493,
683
+ 51.409241676326005
684
+ ],
685
+ "extent": [
686
+ 43.96183776855469,
687
+ 89.15413540365967,
688
+ 36.46275743999065
689
+ ]
690
+ },
691
+ "obb": {
692
+ "center": [
693
+ 136.7830047607422,
694
+ -362.3440234041493,
695
+ 51.409241676326
696
+ ],
697
+ "extent": [
698
+ 43.96183776855469,
699
+ 89.15413540365967,
700
+ 36.46275743999065
701
+ ],
702
+ "rotation": [
703
+ 0,
704
+ 0,
705
+ -1.0017900422099046e-05
706
+ ]
707
+ },
708
+ "location": [
709
+ 136.7830047607422,
710
+ -362.343994140625,
711
+ 14.946499824523926
712
+ ],
713
+ "rotation": [
714
+ 0,
715
+ 0,
716
+ -1.0017900422099046e-05
717
+ ],
718
+ "scale": [
719
+ 1,
720
+ 1,
721
+ 1
722
+ ]
723
+ },
724
+ "color": [
725
+ 127,
726
+ 63,
727
+ 0
728
+ ]
729
+ }
730
+ ],
731
+ "table": [
732
+ {
733
+ "object_id": "SM_TableA",
734
+ "bbox_2d": [
735
+ 374,
736
+ 668,
737
+ 429,
738
+ 684
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ 44.800594329833984,
744
+ -387.695011138916,
745
+ 37.94319820404053
746
+ ],
747
+ "extent": [
748
+ 34.422569274902344,
749
+ 34.422569274902344,
750
+ 23.104700088500977
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ 44.800594329833984,
756
+ -387.695011138916,
757
+ 37.94319820404053
758
+ ],
759
+ "extent": [
760
+ 34.422569274902344,
761
+ 34.422569274902344,
762
+ 23.104700088500977
763
+ ],
764
+ "rotation": [
765
+ 0,
766
+ 0,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ 44.80059814453125,
772
+ -387.69500732421875,
773
+ 14.838500022888184
774
+ ],
775
+ "rotation": [
776
+ 0,
777
+ 0,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 1,
782
+ 1,
783
+ 1
784
+ ]
785
+ },
786
+ "color": [
787
+ 127,
788
+ 63,
789
+ 255
790
+ ]
791
+ }
792
+ ],
793
+ "book": [
794
+ {
795
+ "object_id": "SM_BookA",
796
+ "bbox_2d": [
797
+ 374,
798
+ 669,
799
+ 388,
800
+ 676
801
+ ],
802
+ "bbox_3d": {
803
+ "aabb": {
804
+ "center": [
805
+ 44.58218479730281,
806
+ -387.42662173219014,
807
+ 62.332199454307556
808
+ ],
809
+ "extent": [
810
+ 12.862680606961376,
811
+ 10.277890252115583,
812
+ 1.3079590797424316
813
+ ]
814
+ },
815
+ "obb": {
816
+ "center": [
817
+ 44.58218479730281,
818
+ -387.42662173219014,
819
+ 62.332199454307556
820
+ ],
821
+ "extent": [
822
+ 12.862680606961376,
823
+ 10.277890252115583,
824
+ 1.3079590797424316
825
+ ],
826
+ "rotation": [
827
+ 90,
828
+ 15.000000000000002,
829
+ 0
830
+ ]
831
+ },
832
+ "location": [
833
+ 55.5088005065918,
834
+ -384.6050109863281,
835
+ 62.33219909667969
836
+ ],
837
+ "rotation": [
838
+ 90,
839
+ 15.000000000000002,
840
+ 0
841
+ ],
842
+ "scale": [
843
+ 1,
844
+ 1,
845
+ 1
846
+ ]
847
+ },
848
+ "color": [
849
+ 255,
850
+ 127,
851
+ 191
852
+ ]
853
+ },
854
+ {
855
+ "object_id": "SM_BookB",
856
+ "bbox_2d": [
857
+ 374,
858
+ 663,
859
+ 386,
860
+ 671
861
+ ],
862
+ "bbox_3d": {
863
+ "aabb": {
864
+ "center": [
865
+ 43.979239377734906,
866
+ -388.4510920317505,
867
+ 65.30427742004395
868
+ ],
869
+ "extent": [
870
+ 11.960962727802134,
871
+ 8.556183682080245,
872
+ 1.7609462738037145
873
+ ]
874
+ },
875
+ "obb": {
876
+ "center": [
877
+ 43.979239377734906,
878
+ -388.4510920317505,
879
+ 65.30427742004395
880
+ ],
881
+ "extent": [
882
+ 11.960962727802134,
883
+ 8.556183682080245,
884
+ 1.7609462738037145
885
+ ],
886
+ "rotation": [
887
+ 90,
888
+ 4.999999999999995,
889
+ 0
890
+ ]
891
+ },
892
+ "location": [
893
+ 55.14929962158203,
894
+ -387.4960021972656,
895
+ 65.34030151367188
896
+ ],
897
+ "rotation": [
898
+ 90,
899
+ 4.999999999999995,
900
+ 0
901
+ ],
902
+ "scale": [
903
+ 1,
904
+ 1,
905
+ 1
906
+ ]
907
+ },
908
+ "color": [
909
+ 255,
910
+ 63,
911
+ 191
912
+ ]
913
+ }
914
+ ],
915
+ "bed": [
916
+ {
917
+ "object_id": "SM_Bedc",
918
+ "bbox_2d": [
919
+ 374,
920
+ 794,
921
+ 396,
922
+ 1079
923
+ ],
924
+ "bbox_3d": {
925
+ "aabb": {
926
+ "center": [
927
+ 42.59486770629883,
928
+ 46.127655029296875,
929
+ 55.7503662109375
930
+ ],
931
+ "extent": [
932
+ 21.761241912841797,
933
+ 86.27418518066406,
934
+ 20.23805046081543
935
+ ]
936
+ },
937
+ "obb": {
938
+ "center": [
939
+ 42.59486770629883,
940
+ 46.127655029296875,
941
+ 55.7503662109375
942
+ ],
943
+ "extent": [
944
+ 21.761241912841797,
945
+ 86.27418518066406,
946
+ 20.23805046081543
947
+ ],
948
+ "rotation": [
949
+ 0,
950
+ 0,
951
+ 0
952
+ ]
953
+ },
954
+ "location": [
955
+ 92.09200286865234,
956
+ 45.683799743652344,
957
+ 15
958
+ ],
959
+ "rotation": [
960
+ 0,
961
+ 0,
962
+ 0
963
+ ],
964
+ "scale": [
965
+ 1,
966
+ 1,
967
+ 1
968
+ ]
969
+ },
970
+ "color": [
971
+ 127,
972
+ 191,
973
+ 63
974
+ ]
975
+ },
976
+ {
977
+ "object_id": "SM_Bedb",
978
+ "bbox_2d": [
979
+ 389,
980
+ 772,
981
+ 543,
982
+ 1079
983
+ ],
984
+ "bbox_3d": {
985
+ "aabb": {
986
+ "center": [
987
+ 48.03324890136719,
988
+ 46.497535705566406,
989
+ 45.92771911621094
990
+ ],
991
+ "extent": [
992
+ 82.77275848388672,
993
+ 94.72562408447266,
994
+ 31.081745147705078
995
+ ]
996
+ },
997
+ "obb": {
998
+ "center": [
999
+ 48.03324890136719,
1000
+ 46.497535705566406,
1001
+ 45.92771911621094
1002
+ ],
1003
+ "extent": [
1004
+ 82.77275848388672,
1005
+ 94.72562408447266,
1006
+ 31.081745147705078
1007
+ ],
1008
+ "rotation": [
1009
+ 0,
1010
+ 0,
1011
+ 0
1012
+ ]
1013
+ },
1014
+ "location": [
1015
+ 92.09200286865234,
1016
+ 45.683799743652344,
1017
+ 15
1018
+ ],
1019
+ "rotation": [
1020
+ 0,
1021
+ 0,
1022
+ 0
1023
+ ],
1024
+ "scale": [
1025
+ 1,
1026
+ 1,
1027
+ 1
1028
+ ]
1029
+ },
1030
+ "color": [
1031
+ 63,
1032
+ 191,
1033
+ 127
1034
+ ]
1035
+ }
1036
+ ]
1037
+ }
1038
+ }
scenes/annotations/HotelRoomVol1/l060_r004/scene_annotations_split.json ADDED
@@ -0,0 +1,1224 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l060_r004",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l060_r004/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -142,
8
+ 293,
9
+ 208
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
+ -142,
38
+ 293,
39
+ 208,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 424,
58
+ 0,
59
+ 1919,
60
+ 477
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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_CeilingB",
116
+ "bbox_2d": [
117
+ 1477,
118
+ 466,
119
+ 1919,
120
+ 498
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 0,
126
+ -358.29998779296875,
127
+ 238
128
+ ],
129
+ "extent": [
130
+ 180,
131
+ 85,
132
+ 2
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 0,
138
+ -358.29998779296875,
139
+ 238
140
+ ],
141
+ "extent": [
142
+ 180,
143
+ 85,
144
+ 2
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 0,
154
+ -358.29998779296875,
155
+ 236
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 127,
170
+ 255,
171
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "floor": [
176
+ {
177
+ "object_id": "SM_FloorC",
178
+ "bbox_2d": [
179
+ 1477,
180
+ 819,
181
+ 1919,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 0,
188
+ -134.23599243164062,
189
+ 7.499999523162842
190
+ ],
191
+ "extent": [
192
+ 200,
193
+ 329.0640563964844,
194
+ 7.500000476837158
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 0,
200
+ -134.23599243164062,
201
+ 7.499999523162842
202
+ ],
203
+ "extent": [
204
+ 200,
205
+ 329.0640563964844,
206
+ 7.500000476837158
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 0,
216
+ -134.23599243164062,
217
+ 0
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
+ 255,
233
+ 127
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_FloorB",
238
+ "bbox_2d": [
239
+ 1477,
240
+ 935,
241
+ 1857,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 0,
248
+ -134.5,
249
+ -5
250
+ ],
251
+ "extent": [
252
+ 220,
253
+ 328.8000183105469,
254
+ 5
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 0,
260
+ -134.5,
261
+ -5
262
+ ],
263
+ "extent": [
264
+ 220,
265
+ 328.8000183105469,
266
+ 5
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 0,
276
+ -134.5,
277
+ 0
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
+ 63
294
+ ]
295
+ }
296
+ ],
297
+ "wall": [
298
+ {
299
+ "object_id": "SM_WallD",
300
+ "bbox_2d": [
301
+ 927,
302
+ 152,
303
+ 1476,
304
+ 1079
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ -119,
310
+ 338.29998779296875,
311
+ 140.00003051757812
312
+ ],
313
+ "extent": [
314
+ 101,
315
+ 145,
316
+ 140.00003051757812
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ -119,
322
+ 338.29998779296875,
323
+ 140.00003051757812
324
+ ],
325
+ "extent": [
326
+ 101,
327
+ 145,
328
+ 140.00003051757812
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ -119,
338
+ 338.29998779296875,
339
+ 0
340
+ ],
341
+ "rotation": [
342
+ 0,
343
+ 0,
344
+ 0
345
+ ],
346
+ "scale": [
347
+ 1,
348
+ 1,
349
+ 1
350
+ ]
351
+ },
352
+ "color": [
353
+ 0,
354
+ 0,
355
+ 63
356
+ ]
357
+ }
358
+ ],
359
+ "window": [
360
+ {
361
+ "object_id": "SM_Window",
362
+ "bbox_2d": [
363
+ 1513,
364
+ 490,
365
+ 1919,
366
+ 871
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ 0,
372
+ -475.700008392334,
373
+ 125
374
+ ],
375
+ "extent": [
376
+ 200,
377
+ 2.9999682903289795,
378
+ 114.99999237060547
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ 0,
384
+ -475.700008392334,
385
+ 125
386
+ ],
387
+ "extent": [
388
+ 200,
389
+ 2.9999682903289795,
390
+ 114.99999237060547
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ 0,
400
+ -475.70001220703125,
401
+ 125
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
+ 0,
417
+ 63
418
+ ]
419
+ }
420
+ ],
421
+ "background wall": [
422
+ {
423
+ "object_id": "SM_BackgroundwallB",
424
+ "bbox_2d": [
425
+ 0,
426
+ 0,
427
+ 926,
428
+ 1079
429
+ ],
430
+ "bbox_3d": {
431
+ "aabb": {
432
+ "center": [
433
+ -199,
434
+ 273.2999954223633,
435
+ 179.92100524902344
436
+ ],
437
+ "extent": [
438
+ 1,
439
+ 70,
440
+ 99.92121887207031
441
+ ]
442
+ },
443
+ "obb": {
444
+ "center": [
445
+ -199,
446
+ 273.2999954223633,
447
+ 179.92100524902344
448
+ ],
449
+ "extent": [
450
+ 1,
451
+ 70,
452
+ 99.92121887207031
453
+ ],
454
+ "rotation": [
455
+ 0,
456
+ 0,
457
+ 0
458
+ ]
459
+ },
460
+ "location": [
461
+ -200,
462
+ 273.29998779296875,
463
+ 179.92100524902344
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
+ 255,
479
+ 191
480
+ ]
481
+ }
482
+ ]
483
+ },
484
+ "foreground": {
485
+ "curtain": [
486
+ {
487
+ "object_id": "SM_CurtainA",
488
+ "bbox_2d": [
489
+ 1477,
490
+ 499,
491
+ 1482,
492
+ 824
493
+ ],
494
+ "bbox_3d": {
495
+ "aabb": {
496
+ "center": [
497
+ -184.63999557495117,
498
+ -450.303014755249,
499
+ 140.9367218017578
500
+ ],
501
+ "extent": [
502
+ 24.034090042114258,
503
+ 8.739770889282227,
504
+ 138.2534637451172
505
+ ]
506
+ },
507
+ "obb": {
508
+ "center": [
509
+ -184.63999557495117,
510
+ -450.303014755249,
511
+ 140.9367218017578
512
+ ],
513
+ "extent": [
514
+ 24.034090042114258,
515
+ 8.739770889282227,
516
+ 138.2534637451172
517
+ ],
518
+ "rotation": [
519
+ 0,
520
+ 0,
521
+ 0
522
+ ]
523
+ },
524
+ "location": [
525
+ -184.63999938964844,
526
+ -450.3030090332031,
527
+ 279.12200927734375
528
+ ],
529
+ "rotation": [
530
+ 0,
531
+ 0,
532
+ 0
533
+ ],
534
+ "scale": [
535
+ 1,
536
+ 1,
537
+ 1
538
+ ]
539
+ },
540
+ "color": [
541
+ 0,
542
+ 127,
543
+ 255
544
+ ]
545
+ },
546
+ {
547
+ "object_id": "SM_CurtainB",
548
+ "bbox_2d": [
549
+ 1480,
550
+ 498,
551
+ 1513,
552
+ 824
553
+ ],
554
+ "bbox_3d": {
555
+ "aabb": {
556
+ "center": [
557
+ -191.80099868774215,
558
+ -460.06000900268623,
559
+ 140.17323303222656
560
+ ],
561
+ "extent": [
562
+ 49.35889114727598,
563
+ 3.510708140746601,
564
+ 138.00962829589844
565
+ ]
566
+ },
567
+ "obb": {
568
+ "center": [
569
+ -191.80099868774215,
570
+ -460.06000900268623,
571
+ 140.17323303222656
572
+ ],
573
+ "extent": [
574
+ 49.35889114727598,
575
+ 3.510708140746601,
576
+ 138.00962829589844
577
+ ],
578
+ "rotation": [
579
+ 0,
580
+ 1.0017900422099046e-05,
581
+ 0
582
+ ]
583
+ },
584
+ "location": [
585
+ -191.80099487304688,
586
+ -460.05999755859375,
587
+ 277.52301025390625
588
+ ],
589
+ "rotation": [
590
+ 0,
591
+ 1.0017900422099046e-05,
592
+ 0
593
+ ],
594
+ "scale": [
595
+ 1,
596
+ 1,
597
+ 1
598
+ ]
599
+ },
600
+ "color": [
601
+ 255,
602
+ 127,
603
+ 0
604
+ ]
605
+ }
606
+ ],
607
+ "table": [
608
+ {
609
+ "object_id": "SM_TableA",
610
+ "bbox_2d": [
611
+ 1841,
612
+ 806,
613
+ 1919,
614
+ 877
615
+ ],
616
+ "bbox_3d": {
617
+ "aabb": {
618
+ "center": [
619
+ 44.800594329833984,
620
+ -387.695011138916,
621
+ 37.94319820404053
622
+ ],
623
+ "extent": [
624
+ 34.422569274902344,
625
+ 34.422569274902344,
626
+ 23.104700088500977
627
+ ]
628
+ },
629
+ "obb": {
630
+ "center": [
631
+ 44.800594329833984,
632
+ -387.695011138916,
633
+ 37.94319820404053
634
+ ],
635
+ "extent": [
636
+ 34.422569274902344,
637
+ 34.422569274902344,
638
+ 23.104700088500977
639
+ ],
640
+ "rotation": [
641
+ 0,
642
+ 0,
643
+ 0
644
+ ]
645
+ },
646
+ "location": [
647
+ 44.80059814453125,
648
+ -387.69500732421875,
649
+ 14.838500022888184
650
+ ],
651
+ "rotation": [
652
+ 0,
653
+ 0,
654
+ 0
655
+ ],
656
+ "scale": [
657
+ 1,
658
+ 1,
659
+ 1
660
+ ]
661
+ },
662
+ "color": [
663
+ 127,
664
+ 63,
665
+ 255
666
+ ]
667
+ },
668
+ {
669
+ "object_id": "SM_TableB",
670
+ "bbox_2d": [
671
+ 1477,
672
+ 748,
673
+ 1576,
674
+ 877
675
+ ],
676
+ "bbox_3d": {
677
+ "aabb": {
678
+ "center": [
679
+ -149.79597091674805,
680
+ -356.0385398864746,
681
+ 46.257906913757324
682
+ ],
683
+ "extent": [
684
+ 38.74999237060547,
685
+ 38.749996185302734,
686
+ 31.272306442260742
687
+ ]
688
+ },
689
+ "obb": {
690
+ "center": [
691
+ -149.79597091674805,
692
+ -356.0385398864746,
693
+ 46.257906913757324
694
+ ],
695
+ "extent": [
696
+ 38.74999237060547,
697
+ 38.749996185302734,
698
+ 31.272306442260742
699
+ ],
700
+ "rotation": [
701
+ 0,
702
+ 0,
703
+ 0
704
+ ]
705
+ },
706
+ "location": [
707
+ -149.79600524902344,
708
+ -356.0039978027344,
709
+ 14.985600471496582
710
+ ],
711
+ "rotation": [
712
+ 0,
713
+ 0,
714
+ 0
715
+ ],
716
+ "scale": [
717
+ 1,
718
+ 1,
719
+ 1
720
+ ]
721
+ },
722
+ "color": [
723
+ 63,
724
+ 255,
725
+ 63
726
+ ]
727
+ }
728
+ ],
729
+ "chair": [
730
+ {
731
+ "object_id": "SM_Chair",
732
+ "bbox_2d": [
733
+ 1591,
734
+ 736,
735
+ 1721,
736
+ 891
737
+ ],
738
+ "bbox_3d": {
739
+ "aabb": {
740
+ "center": [
741
+ -70.37654917330788,
742
+ -386.44064606697947,
743
+ 53.646121978759766
744
+ ],
745
+ "extent": [
746
+ 36.46827404604548,
747
+ 36.58248116489722,
748
+ 38.66487121582031
749
+ ]
750
+ },
751
+ "obb": {
752
+ "center": [
753
+ -70.37654917330788,
754
+ -386.44064606697947,
755
+ 53.646121978759766
756
+ ],
757
+ "extent": [
758
+ 36.46827404604548,
759
+ 36.58248116489722,
760
+ 38.66487121582031
761
+ ],
762
+ "rotation": [
763
+ 0,
764
+ 40.00004196166993,
765
+ 0
766
+ ]
767
+ },
768
+ "location": [
769
+ -70.37652587890625,
770
+ -386.440673828125,
771
+ 14.991600036621094
772
+ ],
773
+ "rotation": [
774
+ 0,
775
+ 40.00004196166993,
776
+ 0
777
+ ],
778
+ "scale": [
779
+ 1,
780
+ 1,
781
+ 1
782
+ ]
783
+ },
784
+ "color": [
785
+ 63,
786
+ 0,
787
+ 63
788
+ ]
789
+ }
790
+ ],
791
+ "air conditioning": [
792
+ {
793
+ "object_id": "SM_AirConditioningB",
794
+ "bbox_2d": [
795
+ 1557,
796
+ 0,
797
+ 1919,
798
+ 137
799
+ ],
800
+ "bbox_3d": {
801
+ "aabb": {
802
+ "center": [
803
+ -82.22164916992188,
804
+ 213.48900699615479,
805
+ 239.6999982893467
806
+ ],
807
+ "extent": [
808
+ 56.89637756347656,
809
+ 8.791104316711426,
810
+ 0.30008044838905334
811
+ ]
812
+ },
813
+ "obb": {
814
+ "center": [
815
+ -82.22164916992188,
816
+ 213.48900699615479,
817
+ 239.6999982893467
818
+ ],
819
+ "extent": [
820
+ 56.89637756347656,
821
+ 8.791104316711426,
822
+ 0.30008044838905334
823
+ ],
824
+ "rotation": [
825
+ 0,
826
+ 0,
827
+ 0
828
+ ]
829
+ },
830
+ "location": [
831
+ -80.90760040283203,
832
+ 213.48899841308594,
833
+ 240
834
+ ],
835
+ "rotation": [
836
+ 0,
837
+ 0,
838
+ 0
839
+ ],
840
+ "scale": [
841
+ 1,
842
+ 1,
843
+ 1
844
+ ]
845
+ },
846
+ "color": [
847
+ 63,
848
+ 63,
849
+ 0
850
+ ]
851
+ }
852
+ ],
853
+ "book": [
854
+ {
855
+ "object_id": "SM_BookA",
856
+ "bbox_2d": [
857
+ 1901,
858
+ 818,
859
+ 1919,
860
+ 825
861
+ ],
862
+ "bbox_3d": {
863
+ "aabb": {
864
+ "center": [
865
+ 44.58218479730281,
866
+ -387.42662173219014,
867
+ 62.332199454307556
868
+ ],
869
+ "extent": [
870
+ 12.862680606961376,
871
+ 10.277890252115583,
872
+ 1.3079590797424316
873
+ ]
874
+ },
875
+ "obb": {
876
+ "center": [
877
+ 44.58218479730281,
878
+ -387.42662173219014,
879
+ 62.332199454307556
880
+ ],
881
+ "extent": [
882
+ 12.862680606961376,
883
+ 10.277890252115583,
884
+ 1.3079590797424316
885
+ ],
886
+ "rotation": [
887
+ 90,
888
+ 15.000000000000002,
889
+ 0
890
+ ]
891
+ },
892
+ "location": [
893
+ 55.5088005065918,
894
+ -384.6050109863281,
895
+ 62.33219909667969
896
+ ],
897
+ "rotation": [
898
+ 90,
899
+ 15.000000000000002,
900
+ 0
901
+ ],
902
+ "scale": [
903
+ 1,
904
+ 1,
905
+ 1
906
+ ]
907
+ },
908
+ "color": [
909
+ 255,
910
+ 127,
911
+ 191
912
+ ]
913
+ },
914
+ {
915
+ "object_id": "SM_BookB",
916
+ "bbox_2d": [
917
+ 1896,
918
+ 806,
919
+ 1919,
920
+ 819
921
+ ],
922
+ "bbox_3d": {
923
+ "aabb": {
924
+ "center": [
925
+ 43.979239377734906,
926
+ -388.4510920317505,
927
+ 65.30427742004395
928
+ ],
929
+ "extent": [
930
+ 11.960962727802134,
931
+ 8.556183682080245,
932
+ 1.7609462738037145
933
+ ]
934
+ },
935
+ "obb": {
936
+ "center": [
937
+ 43.979239377734906,
938
+ -388.4510920317505,
939
+ 65.30427742004395
940
+ ],
941
+ "extent": [
942
+ 11.960962727802134,
943
+ 8.556183682080245,
944
+ 1.7609462738037145
945
+ ],
946
+ "rotation": [
947
+ 90,
948
+ 4.999999999999995,
949
+ 0
950
+ ]
951
+ },
952
+ "location": [
953
+ 55.14929962158203,
954
+ -387.4960021972656,
955
+ 65.34030151367188
956
+ ],
957
+ "rotation": [
958
+ 90,
959
+ 4.999999999999995,
960
+ 0
961
+ ],
962
+ "scale": [
963
+ 1,
964
+ 1,
965
+ 1
966
+ ]
967
+ },
968
+ "color": [
969
+ 255,
970
+ 63,
971
+ 191
972
+ ]
973
+ }
974
+ ],
975
+ "cup": [
976
+ {
977
+ "object_id": "SM_CupB",
978
+ "bbox_2d": [
979
+ 1477,
980
+ 742,
981
+ 1487,
982
+ 753
983
+ ],
984
+ "bbox_3d": {
985
+ "aabb": {
986
+ "center": [
987
+ -160.06632614135742,
988
+ -368.4804297267654,
989
+ 81.65173792062303
990
+ ],
991
+ "extent": [
992
+ 4.2690935134887695,
993
+ 4.2901712269720065,
994
+ 3.18805483489416
995
+ ]
996
+ },
997
+ "obb": {
998
+ "center": [
999
+ -160.06632614135742,
1000
+ -368.4804297267654,
1001
+ 81.65173792062303
1002
+ ],
1003
+ "extent": [
1004
+ 4.2690935134887695,
1005
+ 4.2901712269720065,
1006
+ 3.18805483489416
1007
+ ],
1008
+ "rotation": [
1009
+ 0,
1010
+ 0,
1011
+ -1.0017900422099046e-05
1012
+ ]
1013
+ },
1014
+ "location": [
1015
+ -160.10400390625,
1016
+ -368.4360046386719,
1017
+ 78.48179626464844
1018
+ ],
1019
+ "rotation": [
1020
+ 0,
1021
+ 0,
1022
+ -1.0017900422099046e-05
1023
+ ],
1024
+ "scale": [
1025
+ 1,
1026
+ 1,
1027
+ 1
1028
+ ]
1029
+ },
1030
+ "color": [
1031
+ 127,
1032
+ 255,
1033
+ 191
1034
+ ]
1035
+ }
1036
+ ],
1037
+ "magazine": [
1038
+ {
1039
+ "object_id": "SM_Magazine",
1040
+ "bbox_2d": [
1041
+ 1497,
1042
+ 758,
1043
+ 1561,
1044
+ 772
1045
+ ],
1046
+ "bbox_3d": {
1047
+ "aabb": {
1048
+ "center": [
1049
+ -134.54961204314307,
1050
+ -350.52831601056704,
1051
+ 77.97567614912985
1052
+ ],
1053
+ "extent": [
1054
+ 16.358652273061374,
1055
+ 14.58613194866075,
1056
+ 0.4929099678993367
1057
+ ]
1058
+ },
1059
+ "obb": {
1060
+ "center": [
1061
+ -134.54961204314307,
1062
+ -350.52831601056704,
1063
+ 77.97567614912985
1064
+ ],
1065
+ "extent": [
1066
+ 16.358652273061374,
1067
+ 14.58613194866075,
1068
+ 0.4929099678993367
1069
+ ],
1070
+ "rotation": [
1071
+ 90,
1072
+ -160.00012207031253,
1073
+ 0
1074
+ ]
1075
+ },
1076
+ "location": [
1077
+ -147.25,
1078
+ -355.1470031738281,
1079
+ 77.92990112304688
1080
+ ],
1081
+ "rotation": [
1082
+ 90,
1083
+ -160.00012207031253,
1084
+ 0
1085
+ ],
1086
+ "scale": [
1087
+ 1,
1088
+ 1,
1089
+ 1
1090
+ ]
1091
+ },
1092
+ "color": [
1093
+ 127,
1094
+ 127,
1095
+ 191
1096
+ ]
1097
+ }
1098
+ ],
1099
+ "tray": [
1100
+ {
1101
+ "object_id": "SM_TrayC",
1102
+ "bbox_2d": [
1103
+ 1477,
1104
+ 748,
1105
+ 1505,
1106
+ 759
1107
+ ],
1108
+ "bbox_3d": {
1109
+ "aabb": {
1110
+ "center": [
1111
+ -158.843994140625,
1112
+ -368.0790100097656,
1113
+ 78.75958907604218
1114
+ ],
1115
+ "extent": [
1116
+ 12.496990203857422,
1117
+ 12.496990203857422,
1118
+ 1.217192530632019
1119
+ ]
1120
+ },
1121
+ "obb": {
1122
+ "center": [
1123
+ -158.843994140625,
1124
+ -368.0790100097656,
1125
+ 78.75958907604218
1126
+ ],
1127
+ "extent": [
1128
+ 12.496990203857422,
1129
+ 12.496990203857422,
1130
+ 1.217192530632019
1131
+ ],
1132
+ "rotation": [
1133
+ 0,
1134
+ 0,
1135
+ 0
1136
+ ]
1137
+ },
1138
+ "location": [
1139
+ -158.843994140625,
1140
+ -368.0790100097656,
1141
+ 77.54239654541016
1142
+ ],
1143
+ "rotation": [
1144
+ 0,
1145
+ 0,
1146
+ 0
1147
+ ],
1148
+ "scale": [
1149
+ 1,
1150
+ 1,
1151
+ 1
1152
+ ]
1153
+ },
1154
+ "color": [
1155
+ 127,
1156
+ 63,
1157
+ 191
1158
+ ]
1159
+ }
1160
+ ],
1161
+ "shelf": [
1162
+ {
1163
+ "object_id": "SM_Shelf",
1164
+ "bbox_2d": [
1165
+ 693,
1166
+ 926,
1167
+ 1125,
1168
+ 1079
1169
+ ],
1170
+ "bbox_3d": {
1171
+ "aabb": {
1172
+ "center": [
1173
+ -187.5,
1174
+ 273.29998779296875,
1175
+ 163.53599548339844
1176
+ ],
1177
+ "extent": [
1178
+ 12.5,
1179
+ 69.99999237060547,
1180
+ 2
1181
+ ]
1182
+ },
1183
+ "obb": {
1184
+ "center": [
1185
+ -187.5,
1186
+ 273.29998779296875,
1187
+ 163.53599548339844
1188
+ ],
1189
+ "extent": [
1190
+ 12.5,
1191
+ 69.99999237060547,
1192
+ 2
1193
+ ],
1194
+ "rotation": [
1195
+ 0,
1196
+ 0,
1197
+ 0
1198
+ ]
1199
+ },
1200
+ "location": [
1201
+ -200,
1202
+ 273.29998779296875,
1203
+ 161.53599548339844
1204
+ ],
1205
+ "rotation": [
1206
+ 0,
1207
+ 0,
1208
+ 0
1209
+ ],
1210
+ "scale": [
1211
+ 1,
1212
+ 1,
1213
+ 1
1214
+ ]
1215
+ },
1216
+ "color": [
1217
+ 63,
1218
+ 127,
1219
+ 191
1220
+ ]
1221
+ }
1222
+ ]
1223
+ }
1224
+ }
scenes/annotations/HotelRoomVol1/l062_r001/scene_annotations_split.json ADDED
@@ -0,0 +1,974 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l062_r001",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l062_r001/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -88,
8
+ 107,
9
+ 204
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
+ -88,
38
+ 107,
39
+ 204,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1919,
60
+ 437
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "wall": [
116
+ {
117
+ "object_id": "SM_WallF",
118
+ "bbox_2d": [
119
+ 356,
120
+ 322,
121
+ 393,
122
+ 1079
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 128.97000122070312,
128
+ 198.9349913597107,
129
+ 120
130
+ ],
131
+ "extent": [
132
+ 51.02964401245117,
133
+ 4.364752292633057,
134
+ 120
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 128.97000122070312,
140
+ 198.9349913597107,
141
+ 120
142
+ ],
143
+ "extent": [
144
+ 51.02964401245117,
145
+ 4.364752292633057,
146
+ 120
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 128.97000122070312,
156
+ 198.93499755859375,
157
+ 0
158
+ ],
159
+ "rotation": [
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "scale": [
165
+ 1,
166
+ 1,
167
+ 1
168
+ ]
169
+ },
170
+ "color": [
171
+ 0,
172
+ 127,
173
+ 0
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_WallD",
178
+ "bbox_2d": [
179
+ 1190,
180
+ 392,
181
+ 1761,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ -119,
188
+ 338.29998779296875,
189
+ 140.00003051757812
190
+ ],
191
+ "extent": [
192
+ 101,
193
+ 145,
194
+ 140.00003051757812
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ -119,
200
+ 338.29998779296875,
201
+ 140.00003051757812
202
+ ],
203
+ "extent": [
204
+ 101,
205
+ 145,
206
+ 140.00003051757812
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ -119,
216
+ 338.29998779296875,
217
+ 0
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
+ 0,
233
+ 63
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_WallE",
238
+ "bbox_2d": [
239
+ 1059,
240
+ 396,
241
+ 1189,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ 101,
248
+ 338.79998779296875,
249
+ 140.00003051757812
250
+ ],
251
+ "extent": [
252
+ 119,
253
+ 144.5,
254
+ 140.00003051757812
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ 101,
260
+ 338.79998779296875,
261
+ 140.00003051757812
262
+ ],
263
+ "extent": [
264
+ 119,
265
+ 144.5,
266
+ 140.00003051757812
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ 101,
276
+ 338.79998779296875,
277
+ 0
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
+ 63
294
+ ]
295
+ }
296
+ ],
297
+ "background wall": [
298
+ {
299
+ "object_id": "SM_BackgroundwallC",
300
+ "bbox_2d": [
301
+ 0,
302
+ 320,
303
+ 355,
304
+ 1079
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 138.97036743164062,
310
+ -39.36470031738281,
311
+ 127.49999237060547
312
+ ],
313
+ "extent": [
314
+ 61.02964782714844,
315
+ 233.93521118164062,
316
+ 112.5
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 138.97036743164062,
322
+ -39.36470031738281,
323
+ 127.49999237060547
324
+ ],
325
+ "extent": [
326
+ 61.02964782714844,
327
+ 233.93521118164062,
328
+ 112.5
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 200,
338
+ -39.36470031738281,
339
+ 15
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_BackgroundwallA",
360
+ "bbox_2d": [
361
+ 0,
362
+ 955,
363
+ 68,
364
+ 1079
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 194.8563780784607,
370
+ -40.36479949951172,
371
+ 62.49999237060547
372
+ ],
373
+ "extent": [
374
+ 5.143621921539307,
375
+ 232.9352569580078,
376
+ 47.5
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 194.8563780784607,
382
+ -40.36479949951172,
383
+ 62.49999237060547
384
+ ],
385
+ "extent": [
386
+ 5.143621921539307,
387
+ 232.9352569580078,
388
+ 47.5
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 200,
398
+ -40.36479949951172,
399
+ 15
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
+ 63,
415
+ 255
416
+ ]
417
+ }
418
+ ],
419
+ "partition": [
420
+ {
421
+ "object_id": "SM_PartitionA",
422
+ "bbox_2d": [
423
+ 394,
424
+ 222,
425
+ 824,
426
+ 1079
427
+ ],
428
+ "bbox_3d": {
429
+ "aabb": {
430
+ "center": [
431
+ 22.016599655151367,
432
+ 193.6980038881302,
433
+ 127.42579746246338
434
+ ],
435
+ "extent": [
436
+ 41.49184036254883,
437
+ 1.18369460105896,
438
+ 112.56279754638672
439
+ ]
440
+ },
441
+ "obb": {
442
+ "center": [
443
+ 22.016599655151367,
444
+ 193.6980038881302,
445
+ 127.42579746246338
446
+ ],
447
+ "extent": [
448
+ 41.49184036254883,
449
+ 1.18369460105896,
450
+ 112.56279754638672
451
+ ],
452
+ "rotation": [
453
+ 0,
454
+ 0,
455
+ 0
456
+ ]
457
+ },
458
+ "location": [
459
+ 22.016599655151367,
460
+ 193.697998046875,
461
+ 14.86299991607666
462
+ ],
463
+ "rotation": [
464
+ 0,
465
+ 0,
466
+ 0
467
+ ],
468
+ "scale": [
469
+ 1,
470
+ 1,
471
+ 1
472
+ ]
473
+ },
474
+ "color": [
475
+ 127,
476
+ 0,
477
+ 0
478
+ ]
479
+ },
480
+ {
481
+ "object_id": "SM_PartitionB",
482
+ "bbox_2d": [
483
+ 825,
484
+ 423,
485
+ 860,
486
+ 1079
487
+ ],
488
+ "bbox_3d": {
489
+ "aabb": {
490
+ "center": [
491
+ 94.53710222244263,
492
+ 405.30000291611196,
493
+ 130.12950134277278
494
+ ],
495
+ "extent": [
496
+ 7.500146865844727,
497
+ 58.00030501750513,
498
+ 130.00008643502278
499
+ ]
500
+ },
501
+ "obb": {
502
+ "center": [
503
+ 94.53710222244263,
504
+ 405.30000291611196,
505
+ 130.12950134277278
506
+ ],
507
+ "extent": [
508
+ 7.500146865844727,
509
+ 58.00030501750513,
510
+ 130.00008643502278
511
+ ],
512
+ "rotation": [
513
+ 0,
514
+ 0,
515
+ 1.0017900422099046e-05
516
+ ]
517
+ },
518
+ "location": [
519
+ 94.53710174560547,
520
+ 405.29998779296875,
521
+ 0
522
+ ],
523
+ "rotation": [
524
+ 0,
525
+ 0,
526
+ 1.0017900422099046e-05
527
+ ],
528
+ "scale": [
529
+ 1,
530
+ 1,
531
+ 1
532
+ ]
533
+ },
534
+ "color": [
535
+ 127,
536
+ 191,
537
+ 0
538
+ ]
539
+ }
540
+ ],
541
+ "door": [
542
+ {
543
+ "object_id": "SM_DoorA",
544
+ "bbox_2d": [
545
+ 1395,
546
+ 416,
547
+ 1739,
548
+ 1079
549
+ ],
550
+ "bbox_3d": {
551
+ "aabb": {
552
+ "center": [
553
+ -99.04149246215226,
554
+ 469.8109707053685,
555
+ 120.44187164306231
556
+ ],
557
+ "extent": [
558
+ 45.91190087799756,
559
+ 7.500052451203317,
560
+ 120.44187295440872
561
+ ]
562
+ },
563
+ "obb": {
564
+ "center": [
565
+ -99.04149246215226,
566
+ 469.8109707053685,
567
+ 120.4418716430623
568
+ ],
569
+ "extent": [
570
+ 45.91190087799756,
571
+ 7.500052451203317,
572
+ 120.44187295440872
573
+ ],
574
+ "rotation": [
575
+ 0,
576
+ 1.0017900422099046e-05,
577
+ -1.0017900422099046e-05
578
+ ]
579
+ },
580
+ "location": [
581
+ -99.04149627685547,
582
+ 469.8110046386719,
583
+ 0
584
+ ],
585
+ "rotation": [
586
+ 0,
587
+ 1.0017900422099046e-05,
588
+ -1.0017900422099046e-05
589
+ ],
590
+ "scale": [
591
+ 1,
592
+ 1,
593
+ 1
594
+ ]
595
+ },
596
+ "color": [
597
+ 127,
598
+ 255,
599
+ 63
600
+ ]
601
+ },
602
+ {
603
+ "object_id": "SM_DoorB",
604
+ "bbox_2d": [
605
+ 858,
606
+ 409,
607
+ 1046,
608
+ 1079
609
+ ],
610
+ "bbox_3d": {
611
+ "aabb": {
612
+ "center": [
613
+ 53.4721565246582,
614
+ 348.2986726760864,
615
+ 121.12959289550781
616
+ ],
617
+ "extent": [
618
+ 33.56492233276367,
619
+ 9.604825019836426,
620
+ 118.99999237060547
621
+ ]
622
+ },
623
+ "obb": {
624
+ "center": [
625
+ 53.4721565246582,
626
+ 348.2986726760864,
627
+ 121.12959289550781
628
+ ],
629
+ "extent": [
630
+ 33.56492233276367,
631
+ 9.604825019836426,
632
+ 118.99999237060547
633
+ ],
634
+ "rotation": [
635
+ 0,
636
+ 0,
637
+ 0
638
+ ]
639
+ },
640
+ "location": [
641
+ 84.53700256347656,
642
+ 347.7980041503906,
643
+ 0
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
+ 191,
659
+ 255
660
+ ]
661
+ }
662
+ ]
663
+ },
664
+ "foreground": {
665
+ "wardrobe": [
666
+ {
667
+ "object_id": "SM_Wardrobe",
668
+ "bbox_2d": [
669
+ 1762,
670
+ 340,
671
+ 1919,
672
+ 1079
673
+ ],
674
+ "bbox_3d": {
675
+ "aabb": {
676
+ "center": [
677
+ -175,
678
+ 403.299991607666,
679
+ 120
680
+ ],
681
+ "extent": [
682
+ 25,
683
+ 60.000003814697266,
684
+ 120
685
+ ]
686
+ },
687
+ "obb": {
688
+ "center": [
689
+ -175,
690
+ 403.299991607666,
691
+ 120
692
+ ],
693
+ "extent": [
694
+ 25,
695
+ 60.000003814697266,
696
+ 120
697
+ ],
698
+ "rotation": [
699
+ 0,
700
+ 0,
701
+ 0
702
+ ]
703
+ },
704
+ "location": [
705
+ -200,
706
+ 403.29998779296875,
707
+ 0
708
+ ],
709
+ "rotation": [
710
+ 0,
711
+ 0,
712
+ 0
713
+ ],
714
+ "scale": [
715
+ 1,
716
+ 1,
717
+ 1
718
+ ]
719
+ },
720
+ "color": [
721
+ 255,
722
+ 0,
723
+ 127
724
+ ]
725
+ }
726
+ ],
727
+ "downlight": [
728
+ {
729
+ "object_id": "SM_Downlight",
730
+ "bbox_2d": [
731
+ 1531,
732
+ 404,
733
+ 1553,
734
+ 407
735
+ ],
736
+ "bbox_3d": {
737
+ "aabb": {
738
+ "center": [
739
+ -94.48179626464844,
740
+ 408.14199805259705,
741
+ 239.90361881256104
742
+ ],
743
+ "extent": [
744
+ 2.663709878921509,
745
+ 2.6637096405029297,
746
+ 0.12138538062572479
747
+ ]
748
+ },
749
+ "obb": {
750
+ "center": [
751
+ -94.48179626464844,
752
+ 408.14199805259705,
753
+ 239.90361881256104
754
+ ],
755
+ "extent": [
756
+ 2.663709878921509,
757
+ 2.6637096405029297,
758
+ 0.12138538062572479
759
+ ],
760
+ "rotation": [
761
+ 0,
762
+ 0,
763
+ 0
764
+ ]
765
+ },
766
+ "location": [
767
+ -94.48179626464844,
768
+ 408.1419982910156,
769
+ 240.02499389648438
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
+ 255
786
+ ]
787
+ }
788
+ ],
789
+ "air conditioning": [
790
+ {
791
+ "object_id": "SM_AirConditioningA",
792
+ "bbox_2d": [
793
+ 126,
794
+ 0,
795
+ 1705,
796
+ 353
797
+ ],
798
+ "bbox_3d": {
799
+ "aabb": {
800
+ "center": [
801
+ 10.882030487060547,
802
+ 193.0000071823597,
803
+ 251.44998836517334
804
+ ],
805
+ "extent": [
806
+ 150.00003051757812,
807
+ 0.30008038878440857,
808
+ 8.791104316711426
809
+ ]
810
+ },
811
+ "obb": {
812
+ "center": [
813
+ 10.882030487060547,
814
+ 193.0000071823597,
815
+ 251.44998836517334
816
+ ],
817
+ "extent": [
818
+ 150.00003051757812,
819
+ 0.30008038878440857,
820
+ 8.791104316711426
821
+ ],
822
+ "rotation": [
823
+ 0,
824
+ 0,
825
+ 0
826
+ ]
827
+ },
828
+ "location": [
829
+ 10.881999969482422,
830
+ 193.3000030517578,
831
+ 251.4499969482422
832
+ ],
833
+ "rotation": [
834
+ 0,
835
+ 0,
836
+ 0
837
+ ],
838
+ "scale": [
839
+ 1,
840
+ 1,
841
+ 1
842
+ ]
843
+ },
844
+ "color": [
845
+ 63,
846
+ 127,
847
+ 63
848
+ ]
849
+ },
850
+ {
851
+ "object_id": "SM_AirConditioningB",
852
+ "bbox_2d": [
853
+ 915,
854
+ 57,
855
+ 1919,
856
+ 280
857
+ ],
858
+ "bbox_3d": {
859
+ "aabb": {
860
+ "center": [
861
+ -82.22164916992188,
862
+ 213.48900699615479,
863
+ 239.6999982893467
864
+ ],
865
+ "extent": [
866
+ 56.89637756347656,
867
+ 8.791104316711426,
868
+ 0.30008044838905334
869
+ ]
870
+ },
871
+ "obb": {
872
+ "center": [
873
+ -82.22164916992188,
874
+ 213.48900699615479,
875
+ 239.6999982893467
876
+ ],
877
+ "extent": [
878
+ 56.89637756347656,
879
+ 8.791104316711426,
880
+ 0.30008044838905334
881
+ ],
882
+ "rotation": [
883
+ 0,
884
+ 0,
885
+ 0
886
+ ]
887
+ },
888
+ "location": [
889
+ -80.90760040283203,
890
+ 213.48899841308594,
891
+ 240
892
+ ],
893
+ "rotation": [
894
+ 0,
895
+ 0,
896
+ 0
897
+ ],
898
+ "scale": [
899
+ 1,
900
+ 1,
901
+ 1
902
+ ]
903
+ },
904
+ "color": [
905
+ 63,
906
+ 63,
907
+ 0
908
+ ]
909
+ }
910
+ ],
911
+ "hardware": [
912
+ {
913
+ "object_id": "SM_HardwareB",
914
+ "bbox_2d": [
915
+ 1047,
916
+ 408,
917
+ 1058,
918
+ 1079
919
+ ],
920
+ "bbox_3d": {
921
+ "aabb": {
922
+ "center": [
923
+ 17.907498836517348,
924
+ 347.3000652194023,
925
+ 130.1295928955078
926
+ ],
927
+ "extent": [
928
+ 5.000000000000015,
929
+ 1.0000789165496826,
930
+ 130
931
+ ]
932
+ },
933
+ "obb": {
934
+ "center": [
935
+ 17.907498836517348,
936
+ 347.3000652194023,
937
+ 130.1295928955078
938
+ ],
939
+ "extent": [
940
+ 5.000000000000015,
941
+ 1.0000789165496826,
942
+ 130
943
+ ],
944
+ "rotation": [
945
+ 0,
946
+ 89.99999999999999,
947
+ 180
948
+ ]
949
+ },
950
+ "location": [
951
+ 17.907499313354492,
952
+ 348.29998779296875,
953
+ 0
954
+ ],
955
+ "rotation": [
956
+ 0,
957
+ 89.99999999999999,
958
+ 180
959
+ ],
960
+ "scale": [
961
+ -1,
962
+ -1,
963
+ -1
964
+ ]
965
+ },
966
+ "color": [
967
+ 255,
968
+ 191,
969
+ 63
970
+ ]
971
+ }
972
+ ]
973
+ }
974
+ }
scenes/annotations/HotelRoomVol1/l067_r005/scene_annotations_split.json ADDED
@@ -0,0 +1,1346 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l067_r005",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l067_r005/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -69,
8
+ 27,
9
+ 194
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
+ -69,
38
+ 27,
39
+ 194,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1919,
60
+ 427
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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_CeilingB",
116
+ "bbox_2d": [
117
+ 0,
118
+ 339,
119
+ 1122,
120
+ 463
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 0,
126
+ -358.29998779296875,
127
+ 238
128
+ ],
129
+ "extent": [
130
+ 180,
131
+ 85,
132
+ 2
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 0,
138
+ -358.29998779296875,
139
+ 238
140
+ ],
141
+ "extent": [
142
+ 180,
143
+ 85,
144
+ 2
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 0,
154
+ -358.29998779296875,
155
+ 236
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 127,
170
+ 255,
171
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "floor": [
176
+ {
177
+ "object_id": "SM_FloorC",
178
+ "bbox_2d": [
179
+ 19,
180
+ 877,
181
+ 827,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ 0,
188
+ -134.23599243164062,
189
+ 7.499999523162842
190
+ ],
191
+ "extent": [
192
+ 200,
193
+ 329.0640563964844,
194
+ 7.500000476837158
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ 0,
200
+ -134.23599243164062,
201
+ 7.499999523162842
202
+ ],
203
+ "extent": [
204
+ 200,
205
+ 329.0640563964844,
206
+ 7.500000476837158
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ 0,
216
+ -134.23599243164062,
217
+ 0
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
+ 255,
233
+ 127
234
+ ]
235
+ }
236
+ ],
237
+ "background wall": [
238
+ {
239
+ "object_id": "SM_BackgroundwallC",
240
+ "bbox_2d": [
241
+ 1158,
242
+ 314,
243
+ 1919,
244
+ 951
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ 138.97036743164062,
250
+ -39.36470031738281,
251
+ 127.49999237060547
252
+ ],
253
+ "extent": [
254
+ 61.02964782714844,
255
+ 233.93521118164062,
256
+ 112.5
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ 138.97036743164062,
262
+ -39.36470031738281,
263
+ 127.49999237060547
264
+ ],
265
+ "extent": [
266
+ 61.02964782714844,
267
+ 233.93521118164062,
268
+ 112.5
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ 200,
278
+ -39.36470031738281,
279
+ 15
280
+ ],
281
+ "rotation": [
282
+ 0,
283
+ 0,
284
+ 0
285
+ ],
286
+ "scale": [
287
+ 1,
288
+ 1,
289
+ 1
290
+ ]
291
+ },
292
+ "color": [
293
+ 255,
294
+ 127,
295
+ 255
296
+ ]
297
+ },
298
+ {
299
+ "object_id": "SM_BackgroundwallD",
300
+ "bbox_2d": [
301
+ 925,
302
+ 425,
303
+ 1157,
304
+ 885
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 190,
310
+ -358.2999725341797,
311
+ 120.00002136230978
312
+ ],
313
+ "extent": [
314
+ 10.000007629394531,
315
+ 85.00000762939453,
316
+ 120.0000228881836
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 190,
322
+ -358.2999725341797,
323
+ 120.00002136230978
324
+ ],
325
+ "extent": [
326
+ 10.000007629394531,
327
+ 85.00000762939453,
328
+ 120.0000228881836
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 200,
338
+ -358.29998779296875,
339
+ 3.662109884317033e-05
340
+ ],
341
+ "rotation": [
342
+ 0,
343
+ 0,
344
+ 0
345
+ ],
346
+ "scale": [
347
+ 1,
348
+ 1,
349
+ 1
350
+ ]
351
+ },
352
+ "color": [
353
+ 0,
354
+ 127,
355
+ 63
356
+ ]
357
+ },
358
+ {
359
+ "object_id": "SM_BackgroundwallA",
360
+ "bbox_2d": [
361
+ 1142,
362
+ 745,
363
+ 1919,
364
+ 1079
365
+ ],
366
+ "bbox_3d": {
367
+ "aabb": {
368
+ "center": [
369
+ 194.8563780784607,
370
+ -40.36479949951172,
371
+ 62.49999237060547
372
+ ],
373
+ "extent": [
374
+ 5.143621921539307,
375
+ 232.9352569580078,
376
+ 47.5
377
+ ]
378
+ },
379
+ "obb": {
380
+ "center": [
381
+ 194.8563780784607,
382
+ -40.36479949951172,
383
+ 62.49999237060547
384
+ ],
385
+ "extent": [
386
+ 5.143621921539307,
387
+ 232.9352569580078,
388
+ 47.5
389
+ ],
390
+ "rotation": [
391
+ 0,
392
+ 0,
393
+ 0
394
+ ]
395
+ },
396
+ "location": [
397
+ 200,
398
+ -40.36479949951172,
399
+ 15
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
+ 63,
415
+ 255
416
+ ]
417
+ }
418
+ ],
419
+ "wall lamp": [
420
+ {
421
+ "object_id": "SM_WallLamp",
422
+ "bbox_2d": [
423
+ 977,
424
+ 604,
425
+ 1014,
426
+ 618
427
+ ],
428
+ "bbox_3d": {
429
+ "aabb": {
430
+ "center": [
431
+ 176.98500061035156,
432
+ -364.8559875488281,
433
+ 159.677001953125
434
+ ],
435
+ "extent": [
436
+ 3,
437
+ 12.5,
438
+ 2.5
439
+ ]
440
+ },
441
+ "obb": {
442
+ "center": [
443
+ 176.98500061035156,
444
+ -364.8559875488281,
445
+ 159.677001953125
446
+ ],
447
+ "extent": [
448
+ 3,
449
+ 12.5,
450
+ 2.5
451
+ ],
452
+ "rotation": [
453
+ 0,
454
+ 0,
455
+ 0
456
+ ]
457
+ },
458
+ "location": [
459
+ 179.98500061035156,
460
+ -364.8559875488281,
461
+ 159.677001953125
462
+ ],
463
+ "rotation": [
464
+ 0,
465
+ 0,
466
+ 0
467
+ ],
468
+ "scale": [
469
+ 1,
470
+ 1,
471
+ 1
472
+ ]
473
+ },
474
+ "color": [
475
+ 127,
476
+ 255,
477
+ 127
478
+ ]
479
+ }
480
+ ],
481
+ "window": [
482
+ {
483
+ "object_id": "SM_Window",
484
+ "bbox_2d": [
485
+ 193,
486
+ 432,
487
+ 816,
488
+ 982
489
+ ],
490
+ "bbox_3d": {
491
+ "aabb": {
492
+ "center": [
493
+ 0,
494
+ -475.700008392334,
495
+ 125
496
+ ],
497
+ "extent": [
498
+ 200,
499
+ 2.9999682903289795,
500
+ 114.99999237060547
501
+ ]
502
+ },
503
+ "obb": {
504
+ "center": [
505
+ 0,
506
+ -475.700008392334,
507
+ 125
508
+ ],
509
+ "extent": [
510
+ 200,
511
+ 2.9999682903289795,
512
+ 114.99999237060547
513
+ ],
514
+ "rotation": [
515
+ 0,
516
+ 0,
517
+ 0
518
+ ]
519
+ },
520
+ "location": [
521
+ 0,
522
+ -475.70001220703125,
523
+ 125
524
+ ],
525
+ "rotation": [
526
+ 0,
527
+ 0,
528
+ 0
529
+ ],
530
+ "scale": [
531
+ 1,
532
+ 1,
533
+ 1
534
+ ]
535
+ },
536
+ "color": [
537
+ 127,
538
+ 0,
539
+ 63
540
+ ]
541
+ }
542
+ ]
543
+ },
544
+ "foreground": {
545
+ "curtain": [
546
+ {
547
+ "object_id": "SM_CurtainA",
548
+ "bbox_2d": [
549
+ 56,
550
+ 425,
551
+ 129,
552
+ 1022
553
+ ],
554
+ "bbox_3d": {
555
+ "aabb": {
556
+ "center": [
557
+ -184.63999557495117,
558
+ -450.303014755249,
559
+ 140.9367218017578
560
+ ],
561
+ "extent": [
562
+ 24.034090042114258,
563
+ 8.739770889282227,
564
+ 138.2534637451172
565
+ ]
566
+ },
567
+ "obb": {
568
+ "center": [
569
+ -184.63999557495117,
570
+ -450.303014755249,
571
+ 140.9367218017578
572
+ ],
573
+ "extent": [
574
+ 24.034090042114258,
575
+ 8.739770889282227,
576
+ 138.2534637451172
577
+ ],
578
+ "rotation": [
579
+ 0,
580
+ 0,
581
+ 0
582
+ ]
583
+ },
584
+ "location": [
585
+ -184.63999938964844,
586
+ -450.3030090332031,
587
+ 279.12200927734375
588
+ ],
589
+ "rotation": [
590
+ 0,
591
+ 0,
592
+ 0
593
+ ],
594
+ "scale": [
595
+ 1,
596
+ 1,
597
+ 1
598
+ ]
599
+ },
600
+ "color": [
601
+ 0,
602
+ 127,
603
+ 255
604
+ ]
605
+ },
606
+ {
607
+ "object_id": "SM_CurtainB",
608
+ "bbox_2d": [
609
+ 128,
610
+ 429,
611
+ 194,
612
+ 999
613
+ ],
614
+ "bbox_3d": {
615
+ "aabb": {
616
+ "center": [
617
+ -191.80099868774215,
618
+ -460.06000900268623,
619
+ 140.17323303222656
620
+ ],
621
+ "extent": [
622
+ 49.35889114727598,
623
+ 3.510708140746601,
624
+ 138.00962829589844
625
+ ]
626
+ },
627
+ "obb": {
628
+ "center": [
629
+ -191.80099868774215,
630
+ -460.06000900268623,
631
+ 140.17323303222656
632
+ ],
633
+ "extent": [
634
+ 49.35889114727598,
635
+ 3.510708140746601,
636
+ 138.00962829589844
637
+ ],
638
+ "rotation": [
639
+ 0,
640
+ 1.0017900422099046e-05,
641
+ 0
642
+ ]
643
+ },
644
+ "location": [
645
+ -191.80099487304688,
646
+ -460.05999755859375,
647
+ 277.52301025390625
648
+ ],
649
+ "rotation": [
650
+ 0,
651
+ 1.0017900422099046e-05,
652
+ 0
653
+ ],
654
+ "scale": [
655
+ 1,
656
+ 1,
657
+ 1
658
+ ]
659
+ },
660
+ "color": [
661
+ 255,
662
+ 127,
663
+ 0
664
+ ]
665
+ }
666
+ ],
667
+ "cabinet": [
668
+ {
669
+ "object_id": "SM_CabinetB",
670
+ "bbox_2d": [
671
+ 0,
672
+ 407,
673
+ 55,
674
+ 1079
675
+ ],
676
+ "bbox_3d": {
677
+ "aabb": {
678
+ "center": [
679
+ -190,
680
+ -358.2999725341797,
681
+ 127.49999237060547
682
+ ],
683
+ "extent": [
684
+ 10,
685
+ 85.00001525878906,
686
+ 112.5
687
+ ]
688
+ },
689
+ "obb": {
690
+ "center": [
691
+ -190,
692
+ -358.2999725341797,
693
+ 127.49999237060547
694
+ ],
695
+ "extent": [
696
+ 10,
697
+ 85.00001525878906,
698
+ 112.5
699
+ ],
700
+ "rotation": [
701
+ 0,
702
+ 0,
703
+ 0
704
+ ]
705
+ },
706
+ "location": [
707
+ -200,
708
+ -358.29998779296875,
709
+ 15
710
+ ],
711
+ "rotation": [
712
+ 0,
713
+ 0,
714
+ 0
715
+ ],
716
+ "scale": [
717
+ 1,
718
+ 1,
719
+ 1
720
+ ]
721
+ },
722
+ "color": [
723
+ 127,
724
+ 0,
725
+ 255
726
+ ]
727
+ }
728
+ ],
729
+ "bedside lamp": [
730
+ {
731
+ "object_id": "SM_BedsideLampA",
732
+ "bbox_2d": [
733
+ 1627,
734
+ 200,
735
+ 1749,
736
+ 1045
737
+ ],
738
+ "bbox_3d": {
739
+ "aabb": {
740
+ "center": [
741
+ 164.072998046875,
742
+ -71.39650249481201,
743
+ 189.79373931884766
744
+ ],
745
+ "extent": [
746
+ 10.348075866699219,
747
+ 10.34686279296875,
748
+ 96.69283294677734
749
+ ]
750
+ },
751
+ "obb": {
752
+ "center": [
753
+ 164.072998046875,
754
+ -71.39650249481201,
755
+ 189.79373931884766
756
+ ],
757
+ "extent": [
758
+ 10.348075866699219,
759
+ 10.34686279296875,
760
+ 96.69283294677734
761
+ ],
762
+ "rotation": [
763
+ 0,
764
+ 0,
765
+ 0
766
+ ]
767
+ },
768
+ "location": [
769
+ 164.072998046875,
770
+ -71.39649963378906,
771
+ 265
772
+ ],
773
+ "rotation": [
774
+ 0,
775
+ 0,
776
+ 0
777
+ ],
778
+ "scale": [
779
+ 1,
780
+ 1,
781
+ 1
782
+ ]
783
+ },
784
+ "color": [
785
+ 255,
786
+ 63,
787
+ 127
788
+ ]
789
+ }
790
+ ],
791
+ "sofa": [
792
+ {
793
+ "object_id": "SM_Sofa",
794
+ "bbox_2d": [
795
+ 779,
796
+ 745,
797
+ 1121,
798
+ 932
799
+ ],
800
+ "bbox_3d": {
801
+ "aabb": {
802
+ "center": [
803
+ 136.7830047607422,
804
+ -362.3440234041493,
805
+ 51.409241676326005
806
+ ],
807
+ "extent": [
808
+ 43.96183776855469,
809
+ 89.15413540365967,
810
+ 36.46275743999065
811
+ ]
812
+ },
813
+ "obb": {
814
+ "center": [
815
+ 136.7830047607422,
816
+ -362.3440234041493,
817
+ 51.409241676326
818
+ ],
819
+ "extent": [
820
+ 43.96183776855469,
821
+ 89.15413540365967,
822
+ 36.46275743999065
823
+ ],
824
+ "rotation": [
825
+ 0,
826
+ 0,
827
+ -1.0017900422099046e-05
828
+ ]
829
+ },
830
+ "location": [
831
+ 136.7830047607422,
832
+ -362.343994140625,
833
+ 14.946499824523926
834
+ ],
835
+ "rotation": [
836
+ 0,
837
+ 0,
838
+ -1.0017900422099046e-05
839
+ ],
840
+ "scale": [
841
+ 1,
842
+ 1,
843
+ 1
844
+ ]
845
+ },
846
+ "color": [
847
+ 127,
848
+ 63,
849
+ 0
850
+ ]
851
+ }
852
+ ],
853
+ "table": [
854
+ {
855
+ "object_id": "SM_TableA",
856
+ "bbox_2d": [
857
+ 625,
858
+ 823,
859
+ 789,
860
+ 964
861
+ ],
862
+ "bbox_3d": {
863
+ "aabb": {
864
+ "center": [
865
+ 44.800594329833984,
866
+ -387.695011138916,
867
+ 37.94319820404053
868
+ ],
869
+ "extent": [
870
+ 34.422569274902344,
871
+ 34.422569274902344,
872
+ 23.104700088500977
873
+ ]
874
+ },
875
+ "obb": {
876
+ "center": [
877
+ 44.800594329833984,
878
+ -387.695011138916,
879
+ 37.94319820404053
880
+ ],
881
+ "extent": [
882
+ 34.422569274902344,
883
+ 34.422569274902344,
884
+ 23.104700088500977
885
+ ],
886
+ "rotation": [
887
+ 0,
888
+ 0,
889
+ 0
890
+ ]
891
+ },
892
+ "location": [
893
+ 44.80059814453125,
894
+ -387.69500732421875,
895
+ 14.838500022888184
896
+ ],
897
+ "rotation": [
898
+ 0,
899
+ 0,
900
+ 0
901
+ ],
902
+ "scale": [
903
+ 1,
904
+ 1,
905
+ 1
906
+ ]
907
+ },
908
+ "color": [
909
+ 127,
910
+ 63,
911
+ 255
912
+ ]
913
+ },
914
+ {
915
+ "object_id": "SM_TableB",
916
+ "bbox_2d": [
917
+ 0,
918
+ 879,
919
+ 256,
920
+ 1079
921
+ ],
922
+ "bbox_3d": {
923
+ "aabb": {
924
+ "center": [
925
+ -149.79597091674805,
926
+ -356.0385398864746,
927
+ 46.257906913757324
928
+ ],
929
+ "extent": [
930
+ 38.74999237060547,
931
+ 38.749996185302734,
932
+ 31.272306442260742
933
+ ]
934
+ },
935
+ "obb": {
936
+ "center": [
937
+ -149.79597091674805,
938
+ -356.0385398864746,
939
+ 46.257906913757324
940
+ ],
941
+ "extent": [
942
+ 38.74999237060547,
943
+ 38.749996185302734,
944
+ 31.272306442260742
945
+ ],
946
+ "rotation": [
947
+ 0,
948
+ 0,
949
+ 0
950
+ ]
951
+ },
952
+ "location": [
953
+ -149.79600524902344,
954
+ -356.0039978027344,
955
+ 14.985600471496582
956
+ ],
957
+ "rotation": [
958
+ 0,
959
+ 0,
960
+ 0
961
+ ],
962
+ "scale": [
963
+ 1,
964
+ 1,
965
+ 1
966
+ ]
967
+ },
968
+ "color": [
969
+ 63,
970
+ 255,
971
+ 63
972
+ ]
973
+ }
974
+ ],
975
+ "chair": [
976
+ {
977
+ "object_id": "SM_Chair",
978
+ "bbox_2d": [
979
+ 296,
980
+ 796,
981
+ 488,
982
+ 1054
983
+ ],
984
+ "bbox_3d": {
985
+ "aabb": {
986
+ "center": [
987
+ -70.37654917330788,
988
+ -386.44064606697947,
989
+ 53.646121978759766
990
+ ],
991
+ "extent": [
992
+ 36.46827404604548,
993
+ 36.58248116489722,
994
+ 38.66487121582031
995
+ ]
996
+ },
997
+ "obb": {
998
+ "center": [
999
+ -70.37654917330788,
1000
+ -386.44064606697947,
1001
+ 53.646121978759766
1002
+ ],
1003
+ "extent": [
1004
+ 36.46827404604548,
1005
+ 36.58248116489722,
1006
+ 38.66487121582031
1007
+ ],
1008
+ "rotation": [
1009
+ 0,
1010
+ 40.00004196166993,
1011
+ 0
1012
+ ]
1013
+ },
1014
+ "location": [
1015
+ -70.37652587890625,
1016
+ -386.440673828125,
1017
+ 14.991600036621094
1018
+ ],
1019
+ "rotation": [
1020
+ 0,
1021
+ 40.00004196166993,
1022
+ 0
1023
+ ],
1024
+ "scale": [
1025
+ 1,
1026
+ 1,
1027
+ 1
1028
+ ]
1029
+ },
1030
+ "color": [
1031
+ 63,
1032
+ 0,
1033
+ 63
1034
+ ]
1035
+ }
1036
+ ],
1037
+ "book": [
1038
+ {
1039
+ "object_id": "SM_BookA",
1040
+ "bbox_2d": [
1041
+ 681,
1042
+ 842,
1043
+ 735,
1044
+ 854
1045
+ ],
1046
+ "bbox_3d": {
1047
+ "aabb": {
1048
+ "center": [
1049
+ 44.58218479730281,
1050
+ -387.42662173219014,
1051
+ 62.332199454307556
1052
+ ],
1053
+ "extent": [
1054
+ 12.862680606961376,
1055
+ 10.277890252115583,
1056
+ 1.3079590797424316
1057
+ ]
1058
+ },
1059
+ "obb": {
1060
+ "center": [
1061
+ 44.58218479730281,
1062
+ -387.42662173219014,
1063
+ 62.332199454307556
1064
+ ],
1065
+ "extent": [
1066
+ 12.862680606961376,
1067
+ 10.277890252115583,
1068
+ 1.3079590797424316
1069
+ ],
1070
+ "rotation": [
1071
+ 90,
1072
+ 15.000000000000002,
1073
+ 0
1074
+ ]
1075
+ },
1076
+ "location": [
1077
+ 55.5088005065918,
1078
+ -384.6050109863281,
1079
+ 62.33219909667969
1080
+ ],
1081
+ "rotation": [
1082
+ 90,
1083
+ 15.000000000000002,
1084
+ 0
1085
+ ],
1086
+ "scale": [
1087
+ 1,
1088
+ 1,
1089
+ 1
1090
+ ]
1091
+ },
1092
+ "color": [
1093
+ 255,
1094
+ 127,
1095
+ 191
1096
+ ]
1097
+ },
1098
+ {
1099
+ "object_id": "SM_BookB",
1100
+ "bbox_2d": [
1101
+ 677,
1102
+ 825,
1103
+ 736,
1104
+ 848
1105
+ ],
1106
+ "bbox_3d": {
1107
+ "aabb": {
1108
+ "center": [
1109
+ 43.979239377734906,
1110
+ -388.4510920317505,
1111
+ 65.30427742004395
1112
+ ],
1113
+ "extent": [
1114
+ 11.960962727802134,
1115
+ 8.556183682080245,
1116
+ 1.7609462738037145
1117
+ ]
1118
+ },
1119
+ "obb": {
1120
+ "center": [
1121
+ 43.979239377734906,
1122
+ -388.4510920317505,
1123
+ 65.30427742004395
1124
+ ],
1125
+ "extent": [
1126
+ 11.960962727802134,
1127
+ 8.556183682080245,
1128
+ 1.7609462738037145
1129
+ ],
1130
+ "rotation": [
1131
+ 90,
1132
+ 4.999999999999995,
1133
+ 0
1134
+ ]
1135
+ },
1136
+ "location": [
1137
+ 55.14929962158203,
1138
+ -387.4960021972656,
1139
+ 65.34030151367188
1140
+ ],
1141
+ "rotation": [
1142
+ 90,
1143
+ 4.999999999999995,
1144
+ 0
1145
+ ],
1146
+ "scale": [
1147
+ 1,
1148
+ 1,
1149
+ 1
1150
+ ]
1151
+ },
1152
+ "color": [
1153
+ 255,
1154
+ 63,
1155
+ 191
1156
+ ]
1157
+ }
1158
+ ],
1159
+ "cup": [
1160
+ {
1161
+ "object_id": "SM_CupB",
1162
+ "bbox_2d": [
1163
+ 47,
1164
+ 889,
1165
+ 84,
1166
+ 915
1167
+ ],
1168
+ "bbox_3d": {
1169
+ "aabb": {
1170
+ "center": [
1171
+ -160.06632614135742,
1172
+ -368.4804297267654,
1173
+ 81.65173792062303
1174
+ ],
1175
+ "extent": [
1176
+ 4.2690935134887695,
1177
+ 4.2901712269720065,
1178
+ 3.18805483489416
1179
+ ]
1180
+ },
1181
+ "obb": {
1182
+ "center": [
1183
+ -160.06632614135742,
1184
+ -368.4804297267654,
1185
+ 81.65173792062303
1186
+ ],
1187
+ "extent": [
1188
+ 4.2690935134887695,
1189
+ 4.2901712269720065,
1190
+ 3.18805483489416
1191
+ ],
1192
+ "rotation": [
1193
+ 0,
1194
+ 0,
1195
+ -1.0017900422099046e-05
1196
+ ]
1197
+ },
1198
+ "location": [
1199
+ -160.10400390625,
1200
+ -368.4360046386719,
1201
+ 78.48179626464844
1202
+ ],
1203
+ "rotation": [
1204
+ 0,
1205
+ 0,
1206
+ -1.0017900422099046e-05
1207
+ ],
1208
+ "scale": [
1209
+ 1,
1210
+ 1,
1211
+ 1
1212
+ ]
1213
+ },
1214
+ "color": [
1215
+ 127,
1216
+ 255,
1217
+ 191
1218
+ ]
1219
+ }
1220
+ ],
1221
+ "magazine": [
1222
+ {
1223
+ "object_id": "SM_Magazine",
1224
+ "bbox_2d": [
1225
+ 83,
1226
+ 902,
1227
+ 227,
1228
+ 936
1229
+ ],
1230
+ "bbox_3d": {
1231
+ "aabb": {
1232
+ "center": [
1233
+ -134.54961204314307,
1234
+ -350.52831601056704,
1235
+ 77.97567614912985
1236
+ ],
1237
+ "extent": [
1238
+ 16.358652273061374,
1239
+ 14.58613194866075,
1240
+ 0.4929099678993367
1241
+ ]
1242
+ },
1243
+ "obb": {
1244
+ "center": [
1245
+ -134.54961204314307,
1246
+ -350.52831601056704,
1247
+ 77.97567614912985
1248
+ ],
1249
+ "extent": [
1250
+ 16.358652273061374,
1251
+ 14.58613194866075,
1252
+ 0.4929099678993367
1253
+ ],
1254
+ "rotation": [
1255
+ 90,
1256
+ -160.00012207031253,
1257
+ 0
1258
+ ]
1259
+ },
1260
+ "location": [
1261
+ -147.25,
1262
+ -355.1470031738281,
1263
+ 77.92990112304688
1264
+ ],
1265
+ "rotation": [
1266
+ 90,
1267
+ -160.00012207031253,
1268
+ 0
1269
+ ],
1270
+ "scale": [
1271
+ 1,
1272
+ 1,
1273
+ 1
1274
+ ]
1275
+ },
1276
+ "color": [
1277
+ 127,
1278
+ 127,
1279
+ 191
1280
+ ]
1281
+ }
1282
+ ],
1283
+ "tray": [
1284
+ {
1285
+ "object_id": "SM_TrayC",
1286
+ "bbox_2d": [
1287
+ 14,
1288
+ 894,
1289
+ 123,
1290
+ 931
1291
+ ],
1292
+ "bbox_3d": {
1293
+ "aabb": {
1294
+ "center": [
1295
+ -158.843994140625,
1296
+ -368.0790100097656,
1297
+ 78.75958907604218
1298
+ ],
1299
+ "extent": [
1300
+ 12.496990203857422,
1301
+ 12.496990203857422,
1302
+ 1.217192530632019
1303
+ ]
1304
+ },
1305
+ "obb": {
1306
+ "center": [
1307
+ -158.843994140625,
1308
+ -368.0790100097656,
1309
+ 78.75958907604218
1310
+ ],
1311
+ "extent": [
1312
+ 12.496990203857422,
1313
+ 12.496990203857422,
1314
+ 1.217192530632019
1315
+ ],
1316
+ "rotation": [
1317
+ 0,
1318
+ 0,
1319
+ 0
1320
+ ]
1321
+ },
1322
+ "location": [
1323
+ -158.843994140625,
1324
+ -368.0790100097656,
1325
+ 77.54239654541016
1326
+ ],
1327
+ "rotation": [
1328
+ 0,
1329
+ 0,
1330
+ 0
1331
+ ],
1332
+ "scale": [
1333
+ 1,
1334
+ 1,
1335
+ 1
1336
+ ]
1337
+ },
1338
+ "color": [
1339
+ 127,
1340
+ 63,
1341
+ 191
1342
+ ]
1343
+ }
1344
+ ]
1345
+ }
1346
+ }
scenes/annotations/HotelRoomVol1/l074_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,920 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l074_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l074_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 73,
8
+ 264,
9
+ 219
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
+ 73,
38
+ 264,
39
+ 219,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1919,
60
+ 465
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "partition": [
116
+ {
117
+ "object_id": "SM_PartitionA",
118
+ "bbox_2d": [
119
+ 1679,
120
+ 249,
121
+ 1919,
122
+ 1079
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 22.016599655151367,
128
+ 193.6980038881302,
129
+ 127.42579746246338
130
+ ],
131
+ "extent": [
132
+ 41.49184036254883,
133
+ 1.18369460105896,
134
+ 112.56279754638672
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 22.016599655151367,
140
+ 193.6980038881302,
141
+ 127.42579746246338
142
+ ],
143
+ "extent": [
144
+ 41.49184036254883,
145
+ 1.18369460105896,
146
+ 112.56279754638672
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 22.016599655151367,
156
+ 193.697998046875,
157
+ 14.86299991607666
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
+ 0,
173
+ 0
174
+ ]
175
+ }
176
+ ],
177
+ "wall": [
178
+ {
179
+ "object_id": "SM_WallA",
180
+ "bbox_2d": [
181
+ 1271,
182
+ 378,
183
+ 1678,
184
+ 462
185
+ ],
186
+ "bbox_3d": {
187
+ "aabb": {
188
+ "center": [
189
+ -210,
190
+ -10,
191
+ 140.00003051757812
192
+ ],
193
+ "extent": [
194
+ 10,
195
+ 473.3000183105469,
196
+ 140.00003051757812
197
+ ]
198
+ },
199
+ "obb": {
200
+ "center": [
201
+ -210,
202
+ -10,
203
+ 140.00003051757812
204
+ ],
205
+ "extent": [
206
+ 10,
207
+ 473.3000183105469,
208
+ 140.00003051757812
209
+ ],
210
+ "rotation": [
211
+ 0,
212
+ 0,
213
+ 0
214
+ ]
215
+ },
216
+ "location": [
217
+ -210,
218
+ -10,
219
+ 0
220
+ ],
221
+ "rotation": [
222
+ 0,
223
+ 0,
224
+ 0
225
+ ],
226
+ "scale": [
227
+ 1,
228
+ 1,
229
+ 1
230
+ ]
231
+ },
232
+ "color": [
233
+ 127,
234
+ 127,
235
+ 127
236
+ ]
237
+ },
238
+ {
239
+ "object_id": "SM_WallD",
240
+ "bbox_2d": [
241
+ 123,
242
+ 318,
243
+ 1270,
244
+ 1079
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ -119,
250
+ 338.29998779296875,
251
+ 140.00003051757812
252
+ ],
253
+ "extent": [
254
+ 101,
255
+ 145,
256
+ 140.00003051757812
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ -119,
262
+ 338.29998779296875,
263
+ 140.00003051757812
264
+ ],
265
+ "extent": [
266
+ 101,
267
+ 145,
268
+ 140.00003051757812
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ -119,
278
+ 338.29998779296875,
279
+ 0
280
+ ],
281
+ "rotation": [
282
+ 0,
283
+ 0,
284
+ 0
285
+ ],
286
+ "scale": [
287
+ 1,
288
+ 1,
289
+ 1
290
+ ]
291
+ },
292
+ "color": [
293
+ 0,
294
+ 0,
295
+ 63
296
+ ]
297
+ },
298
+ {
299
+ "object_id": "SM_WallE",
300
+ "bbox_2d": [
301
+ 0,
302
+ 286,
303
+ 122,
304
+ 1079
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 101,
310
+ 338.79998779296875,
311
+ 140.00003051757812
312
+ ],
313
+ "extent": [
314
+ 119,
315
+ 144.5,
316
+ 140.00003051757812
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 101,
322
+ 338.79998779296875,
323
+ 140.00003051757812
324
+ ],
325
+ "extent": [
326
+ 119,
327
+ 144.5,
328
+ 140.00003051757812
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 101,
338
+ 338.79998779296875,
339
+ 0
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
+ 63
356
+ ]
357
+ }
358
+ ],
359
+ "background wall": [
360
+ {
361
+ "object_id": "SM_BackgroundwallB",
362
+ "bbox_2d": [
363
+ 679,
364
+ 466,
365
+ 1174,
366
+ 1031
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ -199,
372
+ 273.2999954223633,
373
+ 179.92100524902344
374
+ ],
375
+ "extent": [
376
+ 1,
377
+ 70,
378
+ 99.92121887207031
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ -199,
384
+ 273.2999954223633,
385
+ 179.92100524902344
386
+ ],
387
+ "extent": [
388
+ 1,
389
+ 70,
390
+ 99.92121887207031
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ -200,
400
+ 273.29998779296875,
401
+ 179.92100524902344
402
+ ],
403
+ "rotation": [
404
+ 0,
405
+ 0,
406
+ 0
407
+ ],
408
+ "scale": [
409
+ 1,
410
+ 1,
411
+ 1
412
+ ]
413
+ },
414
+ "color": [
415
+ 63,
416
+ 255,
417
+ 191
418
+ ]
419
+ }
420
+ ]
421
+ },
422
+ "foreground": {
423
+ "wardrobe": [
424
+ {
425
+ "object_id": "SM_Wardrobe",
426
+ "bbox_2d": [
427
+ 221,
428
+ 450,
429
+ 678,
430
+ 1079
431
+ ],
432
+ "bbox_3d": {
433
+ "aabb": {
434
+ "center": [
435
+ -175,
436
+ 403.299991607666,
437
+ 120
438
+ ],
439
+ "extent": [
440
+ 25,
441
+ 60.000003814697266,
442
+ 120
443
+ ]
444
+ },
445
+ "obb": {
446
+ "center": [
447
+ -175,
448
+ 403.299991607666,
449
+ 120
450
+ ],
451
+ "extent": [
452
+ 25,
453
+ 60.000003814697266,
454
+ 120
455
+ ],
456
+ "rotation": [
457
+ 0,
458
+ 0,
459
+ 0
460
+ ]
461
+ },
462
+ "location": [
463
+ -200,
464
+ 403.29998779296875,
465
+ 0
466
+ ],
467
+ "rotation": [
468
+ 0,
469
+ 0,
470
+ 0
471
+ ],
472
+ "scale": [
473
+ 1,
474
+ 1,
475
+ 1
476
+ ]
477
+ },
478
+ "color": [
479
+ 255,
480
+ 0,
481
+ 127
482
+ ]
483
+ }
484
+ ],
485
+ "cabinet": [
486
+ {
487
+ "object_id": "SM_CabinetA",
488
+ "bbox_2d": [
489
+ 652,
490
+ 1031,
491
+ 1195,
492
+ 1079
493
+ ],
494
+ "bbox_3d": {
495
+ "aabb": {
496
+ "center": [
497
+ -175,
498
+ 273.2999954223633,
499
+ 40
500
+ ],
501
+ "extent": [
502
+ 25,
503
+ 69.99998474121094,
504
+ 40
505
+ ]
506
+ },
507
+ "obb": {
508
+ "center": [
509
+ -175,
510
+ 273.2999954223633,
511
+ 40
512
+ ],
513
+ "extent": [
514
+ 25,
515
+ 69.99998474121094,
516
+ 40
517
+ ],
518
+ "rotation": [
519
+ 0,
520
+ 0,
521
+ 0
522
+ ]
523
+ },
524
+ "location": [
525
+ -200,
526
+ 278.29998779296875,
527
+ 0
528
+ ],
529
+ "rotation": [
530
+ 0,
531
+ 0,
532
+ 0
533
+ ],
534
+ "scale": [
535
+ 1,
536
+ 1,
537
+ 1
538
+ ]
539
+ },
540
+ "color": [
541
+ 255,
542
+ 255,
543
+ 127
544
+ ]
545
+ }
546
+ ],
547
+ "tv background wall": [
548
+ {
549
+ "object_id": "SM_TVBackgroundwall",
550
+ "bbox_2d": [
551
+ 1271,
552
+ 463,
553
+ 1678,
554
+ 1079
555
+ ],
556
+ "bbox_3d": {
557
+ "aabb": {
558
+ "center": [
559
+ -194.99996089935303,
560
+ -2.927030086517334,
561
+ 120.00000762939453
562
+ ],
563
+ "extent": [
564
+ 5.000057220458984,
565
+ 196.22706604003906,
566
+ 119.99999237060547
567
+ ]
568
+ },
569
+ "obb": {
570
+ "center": [
571
+ -194.99996089935303,
572
+ -2.927030086517334,
573
+ 120.00000762939453
574
+ ],
575
+ "extent": [
576
+ 5.000057220458984,
577
+ 196.22706604003906,
578
+ 119.99999237060547
579
+ ],
580
+ "rotation": [
581
+ 0,
582
+ 0,
583
+ 0
584
+ ]
585
+ },
586
+ "location": [
587
+ -200,
588
+ -2.927030086517334,
589
+ 0
590
+ ],
591
+ "rotation": [
592
+ 0,
593
+ 0,
594
+ 0
595
+ ],
596
+ "scale": [
597
+ 1,
598
+ 1,
599
+ 1
600
+ ]
601
+ },
602
+ "color": [
603
+ 127,
604
+ 255,
605
+ 0
606
+ ]
607
+ }
608
+ ],
609
+ "air conditioning": [
610
+ {
611
+ "object_id": "SM_AirConditioningB",
612
+ "bbox_2d": [
613
+ 1149,
614
+ 335,
615
+ 1538,
616
+ 447
617
+ ],
618
+ "bbox_3d": {
619
+ "aabb": {
620
+ "center": [
621
+ -82.22164916992188,
622
+ 213.48900699615479,
623
+ 239.6999982893467
624
+ ],
625
+ "extent": [
626
+ 56.89637756347656,
627
+ 8.791104316711426,
628
+ 0.30008044838905334
629
+ ]
630
+ },
631
+ "obb": {
632
+ "center": [
633
+ -82.22164916992188,
634
+ 213.48900699615479,
635
+ 239.6999982893467
636
+ ],
637
+ "extent": [
638
+ 56.89637756347656,
639
+ 8.791104316711426,
640
+ 0.30008044838905334
641
+ ],
642
+ "rotation": [
643
+ 0,
644
+ 0,
645
+ 0
646
+ ]
647
+ },
648
+ "location": [
649
+ -80.90760040283203,
650
+ 213.48899841308594,
651
+ 240
652
+ ],
653
+ "rotation": [
654
+ 0,
655
+ 0,
656
+ 0
657
+ ],
658
+ "scale": [
659
+ 1,
660
+ 1,
661
+ 1
662
+ ]
663
+ },
664
+ "color": [
665
+ 63,
666
+ 63,
667
+ 0
668
+ ]
669
+ }
670
+ ],
671
+ "kettle": [
672
+ {
673
+ "object_id": "SM_Kettle",
674
+ "bbox_2d": [
675
+ 752,
676
+ 937,
677
+ 857,
678
+ 1079
679
+ ],
680
+ "bbox_3d": {
681
+ "aabb": {
682
+ "center": [
683
+ -174.96100521087646,
684
+ 303.7879877090454,
685
+ 96.61308860778809
686
+ ],
687
+ "extent": [
688
+ 10.519744873046875,
689
+ 13.488739013671875,
690
+ 16.630197525024414
691
+ ]
692
+ },
693
+ "obb": {
694
+ "center": [
695
+ -174.96100521087646,
696
+ 303.7879877090454,
697
+ 96.61308860778809
698
+ ],
699
+ "extent": [
700
+ 10.519744873046875,
701
+ 13.488739013671875,
702
+ 16.630197525024414
703
+ ],
704
+ "rotation": [
705
+ 0,
706
+ 0,
707
+ 0
708
+ ]
709
+ },
710
+ "location": [
711
+ -174.96099853515625,
712
+ 303.7879943847656,
713
+ 79.98380279541016
714
+ ],
715
+ "rotation": [
716
+ 0,
717
+ 0,
718
+ 0
719
+ ],
720
+ "scale": [
721
+ 1,
722
+ 1,
723
+ 1
724
+ ]
725
+ },
726
+ "color": [
727
+ 63,
728
+ 63,
729
+ 255
730
+ ]
731
+ }
732
+ ],
733
+ "cup": [
734
+ {
735
+ "object_id": "SM_CupA",
736
+ "bbox_2d": [
737
+ 957,
738
+ 1010,
739
+ 1008,
740
+ 1078
741
+ ],
742
+ "bbox_3d": {
743
+ "aabb": {
744
+ "center": [
745
+ -173.873988457783,
746
+ 258.0005650761604,
747
+ 88.81649398803711
748
+ ],
749
+ "extent": [
750
+ 5.447290186819032,
751
+ 6.844897745798505,
752
+ 6.6688971519470215
753
+ ]
754
+ },
755
+ "obb": {
756
+ "center": [
757
+ -173.873988457783,
758
+ 258.0005650761604,
759
+ 88.81649398803711
760
+ ],
761
+ "extent": [
762
+ 5.447290186819032,
763
+ 6.844897745798505,
764
+ 6.6688971519470215
765
+ ],
766
+ "rotation": [
767
+ 0,
768
+ -1.0017900422099046e-05,
769
+ 0
770
+ ]
771
+ },
772
+ "location": [
773
+ -173.73599243164062,
774
+ 259.75201416015625,
775
+ 82.14759826660156
776
+ ],
777
+ "rotation": [
778
+ 0,
779
+ -1.0017900422099046e-05,
780
+ 0
781
+ ],
782
+ "scale": [
783
+ 1,
784
+ 1,
785
+ 1
786
+ ]
787
+ },
788
+ "color": [
789
+ 63,
790
+ 63,
791
+ 127
792
+ ]
793
+ }
794
+ ],
795
+ "tray": [
796
+ {
797
+ "object_id": "SM_TrayA",
798
+ "bbox_2d": [
799
+ 937,
800
+ 1051,
801
+ 1084,
802
+ 1079
803
+ ],
804
+ "bbox_3d": {
805
+ "aabb": {
806
+ "center": [
807
+ -173.95700073242188,
808
+ 251.1869945526123,
809
+ 81.51061451435089
810
+ ],
811
+ "extent": [
812
+ 8.691320419311523,
813
+ 18.694957733154297,
814
+ 1.4992151260375977
815
+ ]
816
+ },
817
+ "obb": {
818
+ "center": [
819
+ -173.95700073242188,
820
+ 251.1869945526123,
821
+ 81.51061451435089
822
+ ],
823
+ "extent": [
824
+ 8.691320419311523,
825
+ 18.694957733154297,
826
+ 1.4992151260375977
827
+ ],
828
+ "rotation": [
829
+ 0,
830
+ 0,
831
+ 0
832
+ ]
833
+ },
834
+ "location": [
835
+ -173.95700073242188,
836
+ 251.18699645996094,
837
+ 80.01139831542969
838
+ ],
839
+ "rotation": [
840
+ 0,
841
+ 0,
842
+ 0
843
+ ],
844
+ "scale": [
845
+ 1,
846
+ 1,
847
+ 1
848
+ ]
849
+ },
850
+ "color": [
851
+ 63,
852
+ 63,
853
+ 63
854
+ ]
855
+ }
856
+ ],
857
+ "shelf": [
858
+ {
859
+ "object_id": "SM_Shelf",
860
+ "bbox_2d": [
861
+ 653,
862
+ 729,
863
+ 1194,
864
+ 761
865
+ ],
866
+ "bbox_3d": {
867
+ "aabb": {
868
+ "center": [
869
+ -187.5,
870
+ 273.29998779296875,
871
+ 163.53599548339844
872
+ ],
873
+ "extent": [
874
+ 12.5,
875
+ 69.99999237060547,
876
+ 2
877
+ ]
878
+ },
879
+ "obb": {
880
+ "center": [
881
+ -187.5,
882
+ 273.29998779296875,
883
+ 163.53599548339844
884
+ ],
885
+ "extent": [
886
+ 12.5,
887
+ 69.99999237060547,
888
+ 2
889
+ ],
890
+ "rotation": [
891
+ 0,
892
+ 0,
893
+ 0
894
+ ]
895
+ },
896
+ "location": [
897
+ -200,
898
+ 273.29998779296875,
899
+ 161.53599548339844
900
+ ],
901
+ "rotation": [
902
+ 0,
903
+ 0,
904
+ 0
905
+ ],
906
+ "scale": [
907
+ 1,
908
+ 1,
909
+ 1
910
+ ]
911
+ },
912
+ "color": [
913
+ 63,
914
+ 127,
915
+ 191
916
+ ]
917
+ }
918
+ ]
919
+ }
920
+ }
scenes/annotations/HotelRoomVol1/l078_r004/scene_annotations_split.json ADDED
@@ -0,0 +1,854 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l078_r004",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l078_r004/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 20,
8
+ -199,
9
+ 220
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
+ 20,
38
+ -199,
39
+ 220,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1919,
60
+ 429
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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_CeilingB",
116
+ "bbox_2d": [
117
+ 165,
118
+ 187,
119
+ 1919,
120
+ 490
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 0,
126
+ -358.29998779296875,
127
+ 238
128
+ ],
129
+ "extent": [
130
+ 180,
131
+ 85,
132
+ 2
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 0,
138
+ -358.29998779296875,
139
+ 238
140
+ ],
141
+ "extent": [
142
+ 180,
143
+ 85,
144
+ 2
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 0,
154
+ -358.29998779296875,
155
+ 236
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 127,
170
+ 255,
171
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "wall": [
176
+ {
177
+ "object_id": "SM_WallA",
178
+ "bbox_2d": [
179
+ 0,
180
+ 272,
181
+ 114,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ -210,
188
+ -10,
189
+ 140.00003051757812
190
+ ],
191
+ "extent": [
192
+ 10,
193
+ 473.3000183105469,
194
+ 140.00003051757812
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ -210,
200
+ -10,
201
+ 140.00003051757812
202
+ ],
203
+ "extent": [
204
+ 10,
205
+ 473.3000183105469,
206
+ 140.00003051757812
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ -210,
216
+ -10,
217
+ 0
218
+ ],
219
+ "rotation": [
220
+ 0,
221
+ 0,
222
+ 0
223
+ ],
224
+ "scale": [
225
+ 1,
226
+ 1,
227
+ 1
228
+ ]
229
+ },
230
+ "color": [
231
+ 127,
232
+ 127,
233
+ 127
234
+ ]
235
+ }
236
+ ],
237
+ "window": [
238
+ {
239
+ "object_id": "SM_Window",
240
+ "bbox_2d": [
241
+ 928,
242
+ 454,
243
+ 1919,
244
+ 1079
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ 0,
250
+ -475.700008392334,
251
+ 125
252
+ ],
253
+ "extent": [
254
+ 200,
255
+ 2.9999682903289795,
256
+ 114.99999237060547
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ 0,
262
+ -475.700008392334,
263
+ 125
264
+ ],
265
+ "extent": [
266
+ 200,
267
+ 2.9999682903289795,
268
+ 114.99999237060547
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ 0,
278
+ -475.70001220703125,
279
+ 125
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
+ 0,
295
+ 63
296
+ ]
297
+ }
298
+ ]
299
+ },
300
+ "foreground": {
301
+ "curtain": [
302
+ {
303
+ "object_id": "SM_CurtainA",
304
+ "bbox_2d": [
305
+ 803,
306
+ 488,
307
+ 874,
308
+ 1079
309
+ ],
310
+ "bbox_3d": {
311
+ "aabb": {
312
+ "center": [
313
+ -184.63999557495117,
314
+ -450.303014755249,
315
+ 140.9367218017578
316
+ ],
317
+ "extent": [
318
+ 24.034090042114258,
319
+ 8.739770889282227,
320
+ 138.2534637451172
321
+ ]
322
+ },
323
+ "obb": {
324
+ "center": [
325
+ -184.63999557495117,
326
+ -450.303014755249,
327
+ 140.9367218017578
328
+ ],
329
+ "extent": [
330
+ 24.034090042114258,
331
+ 8.739770889282227,
332
+ 138.2534637451172
333
+ ],
334
+ "rotation": [
335
+ 0,
336
+ 0,
337
+ 0
338
+ ]
339
+ },
340
+ "location": [
341
+ -184.63999938964844,
342
+ -450.3030090332031,
343
+ 279.12200927734375
344
+ ],
345
+ "rotation": [
346
+ 0,
347
+ 0,
348
+ 0
349
+ ],
350
+ "scale": [
351
+ 1,
352
+ 1,
353
+ 1
354
+ ]
355
+ },
356
+ "color": [
357
+ 0,
358
+ 127,
359
+ 255
360
+ ]
361
+ },
362
+ {
363
+ "object_id": "SM_CurtainB",
364
+ "bbox_2d": [
365
+ 870,
366
+ 487,
367
+ 929,
368
+ 1079
369
+ ],
370
+ "bbox_3d": {
371
+ "aabb": {
372
+ "center": [
373
+ -191.80099868774215,
374
+ -460.06000900268623,
375
+ 140.17323303222656
376
+ ],
377
+ "extent": [
378
+ 49.35889114727598,
379
+ 3.510708140746601,
380
+ 138.00962829589844
381
+ ]
382
+ },
383
+ "obb": {
384
+ "center": [
385
+ -191.80099868774215,
386
+ -460.06000900268623,
387
+ 140.17323303222656
388
+ ],
389
+ "extent": [
390
+ 49.35889114727598,
391
+ 3.510708140746601,
392
+ 138.00962829589844
393
+ ],
394
+ "rotation": [
395
+ 0,
396
+ 1.0017900422099046e-05,
397
+ 0
398
+ ]
399
+ },
400
+ "location": [
401
+ -191.80099487304688,
402
+ -460.05999755859375,
403
+ 277.52301025390625
404
+ ],
405
+ "rotation": [
406
+ 0,
407
+ 1.0017900422099046e-05,
408
+ 0
409
+ ],
410
+ "scale": [
411
+ 1,
412
+ 1,
413
+ 1
414
+ ]
415
+ },
416
+ "color": [
417
+ 255,
418
+ 127,
419
+ 0
420
+ ]
421
+ }
422
+ ],
423
+ "cabinet": [
424
+ {
425
+ "object_id": "SM_CabinetB",
426
+ "bbox_2d": [
427
+ 115,
428
+ 423,
429
+ 802,
430
+ 1079
431
+ ],
432
+ "bbox_3d": {
433
+ "aabb": {
434
+ "center": [
435
+ -190,
436
+ -358.2999725341797,
437
+ 127.49999237060547
438
+ ],
439
+ "extent": [
440
+ 10,
441
+ 85.00001525878906,
442
+ 112.5
443
+ ]
444
+ },
445
+ "obb": {
446
+ "center": [
447
+ -190,
448
+ -358.2999725341797,
449
+ 127.49999237060547
450
+ ],
451
+ "extent": [
452
+ 10,
453
+ 85.00001525878906,
454
+ 112.5
455
+ ],
456
+ "rotation": [
457
+ 0,
458
+ 0,
459
+ 0
460
+ ]
461
+ },
462
+ "location": [
463
+ -200,
464
+ -358.29998779296875,
465
+ 15
466
+ ],
467
+ "rotation": [
468
+ 0,
469
+ 0,
470
+ 0
471
+ ],
472
+ "scale": [
473
+ 1,
474
+ 1,
475
+ 1
476
+ ]
477
+ },
478
+ "color": [
479
+ 127,
480
+ 0,
481
+ 255
482
+ ]
483
+ }
484
+ ],
485
+ "table": [
486
+ {
487
+ "object_id": "SM_TableB",
488
+ "bbox_2d": [
489
+ 622,
490
+ 1067,
491
+ 778,
492
+ 1079
493
+ ],
494
+ "bbox_3d": {
495
+ "aabb": {
496
+ "center": [
497
+ -149.79597091674805,
498
+ -356.0385398864746,
499
+ 46.257906913757324
500
+ ],
501
+ "extent": [
502
+ 38.74999237060547,
503
+ 38.749996185302734,
504
+ 31.272306442260742
505
+ ]
506
+ },
507
+ "obb": {
508
+ "center": [
509
+ -149.79597091674805,
510
+ -356.0385398864746,
511
+ 46.257906913757324
512
+ ],
513
+ "extent": [
514
+ 38.74999237060547,
515
+ 38.749996185302734,
516
+ 31.272306442260742
517
+ ],
518
+ "rotation": [
519
+ 0,
520
+ 0,
521
+ 0
522
+ ]
523
+ },
524
+ "location": [
525
+ -149.79600524902344,
526
+ -356.0039978027344,
527
+ 14.985600471496582
528
+ ],
529
+ "rotation": [
530
+ 0,
531
+ 0,
532
+ 0
533
+ ],
534
+ "scale": [
535
+ 1,
536
+ 1,
537
+ 1
538
+ ]
539
+ },
540
+ "color": [
541
+ 63,
542
+ 255,
543
+ 63
544
+ ]
545
+ }
546
+ ],
547
+ "plant": [
548
+ {
549
+ "object_id": "SM_Plant",
550
+ "bbox_2d": [
551
+ 0,
552
+ 1027,
553
+ 55,
554
+ 1079
555
+ ],
556
+ "bbox_3d": {
557
+ "aabb": {
558
+ "center": [
559
+ -186.37751579284668,
560
+ -237.51317405700684,
561
+ 106.01042938232422
562
+ ],
563
+ "extent": [
564
+ 9.79758358001709,
565
+ 22.762449264526367,
566
+ 36.91743469238281
567
+ ]
568
+ },
569
+ "obb": {
570
+ "center": [
571
+ -186.37751579284668,
572
+ -237.51317405700684,
573
+ 106.01042938232422
574
+ ],
575
+ "extent": [
576
+ 9.79758358001709,
577
+ 22.762449264526367,
578
+ 36.91743469238281
579
+ ],
580
+ "rotation": [
581
+ 0,
582
+ 0,
583
+ 0
584
+ ]
585
+ },
586
+ "location": [
587
+ -184.35899353027344,
588
+ -235.2469940185547,
589
+ 69.09300231933594
590
+ ],
591
+ "rotation": [
592
+ 0,
593
+ 0,
594
+ 0
595
+ ],
596
+ "scale": [
597
+ 1,
598
+ 1,
599
+ 1
600
+ ]
601
+ },
602
+ "color": [
603
+ 255,
604
+ 0,
605
+ 191
606
+ ]
607
+ }
608
+ ],
609
+ "cup": [
610
+ {
611
+ "object_id": "SM_CupB",
612
+ "bbox_2d": [
613
+ 673,
614
+ 1079,
615
+ 681,
616
+ 1079
617
+ ],
618
+ "bbox_3d": {
619
+ "aabb": {
620
+ "center": [
621
+ -160.06632614135742,
622
+ -368.4804297267654,
623
+ 81.65173792062303
624
+ ],
625
+ "extent": [
626
+ 4.2690935134887695,
627
+ 4.2901712269720065,
628
+ 3.18805483489416
629
+ ]
630
+ },
631
+ "obb": {
632
+ "center": [
633
+ -160.06632614135742,
634
+ -368.4804297267654,
635
+ 81.65173792062303
636
+ ],
637
+ "extent": [
638
+ 4.2690935134887695,
639
+ 4.2901712269720065,
640
+ 3.18805483489416
641
+ ],
642
+ "rotation": [
643
+ 0,
644
+ 0,
645
+ -1.0017900422099046e-05
646
+ ]
647
+ },
648
+ "location": [
649
+ -160.10400390625,
650
+ -368.4360046386719,
651
+ 78.48179626464844
652
+ ],
653
+ "rotation": [
654
+ 0,
655
+ 0,
656
+ -1.0017900422099046e-05
657
+ ],
658
+ "scale": [
659
+ 1,
660
+ 1,
661
+ 1
662
+ ]
663
+ },
664
+ "color": [
665
+ 127,
666
+ 255,
667
+ 191
668
+ ]
669
+ }
670
+ ],
671
+ "ornament": [
672
+ {
673
+ "object_id": "SM_OrnamentC_2",
674
+ "bbox_2d": [
675
+ 397,
676
+ 1038,
677
+ 454,
678
+ 1079
679
+ ],
680
+ "bbox_3d": {
681
+ "aabb": {
682
+ "center": [
683
+ -190.45645141601562,
684
+ -325.1131591796875,
685
+ 96.93545506470139
686
+ ],
687
+ "extent": [
688
+ 5.644383376909559,
689
+ 5.64438397869327,
690
+ 8.884597520756074
691
+ ]
692
+ },
693
+ "obb": {
694
+ "center": [
695
+ -190.45645141601562,
696
+ -325.1131591796875,
697
+ 96.93545506470139
698
+ ],
699
+ "extent": [
700
+ 5.644383376909559,
701
+ 5.64438397869327,
702
+ 8.884597520756074
703
+ ],
704
+ "rotation": [
705
+ 0,
706
+ 0,
707
+ 0
708
+ ]
709
+ },
710
+ "location": [
711
+ -190.45645141601562,
712
+ -325.1131591796875,
713
+ 88.05085754394531
714
+ ],
715
+ "rotation": [
716
+ 0,
717
+ 0,
718
+ 0
719
+ ],
720
+ "scale": [
721
+ 0.631015956401825,
722
+ 0.631015956401825,
723
+ 0.8310162425041199
724
+ ]
725
+ },
726
+ "color": [
727
+ 63,
728
+ 31,
729
+ 0
730
+ ]
731
+ },
732
+ {
733
+ "object_id": "SM_OrnamentD_10",
734
+ "bbox_2d": [
735
+ 638,
736
+ 934,
737
+ 666,
738
+ 1009
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ -193.01506074165886,
744
+ -392.0024108886719,
745
+ 97.88160162473139
746
+ ],
747
+ "extent": [
748
+ 4.2531043675359115,
749
+ 4.1884908315691405,
750
+ 9.830744080786076
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ -193.01506074165886,
756
+ -392.0024108886719,
757
+ 97.88160162473139
758
+ ],
759
+ "extent": [
760
+ 4.2531043675359115,
761
+ 4.1884908315691405,
762
+ 9.830744080786076
763
+ ],
764
+ "rotation": [
765
+ 0,
766
+ 0,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ -193.0150604248047,
772
+ -392.0024108886719,
773
+ 88.05085754394531
774
+ ],
775
+ "rotation": [
776
+ 0,
777
+ 0,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 0.6644913554191589,
782
+ 0.6644913554191589,
783
+ 0.6644913554191589
784
+ ]
785
+ },
786
+ "color": [
787
+ 63,
788
+ 31,
789
+ 255
790
+ ]
791
+ },
792
+ {
793
+ "object_id": "SM_OrnamentF_18",
794
+ "bbox_2d": [
795
+ 468,
796
+ 1071,
797
+ 489,
798
+ 1079
799
+ ],
800
+ "bbox_3d": {
801
+ "aabb": {
802
+ "center": [
803
+ -188.71698622468278,
804
+ -335.8035202390388,
805
+ 91.75630736351013
806
+ ],
807
+ "extent": [
808
+ 6.366357987330417,
809
+ 6.366364094307244,
810
+ 3.7054548263549805
811
+ ]
812
+ },
813
+ "obb": {
814
+ "center": [
815
+ -188.71698622468278,
816
+ -335.8035202390388,
817
+ 91.75630736351013
818
+ ],
819
+ "extent": [
820
+ 6.366357987330417,
821
+ 6.366364094307244,
822
+ 3.7054548263549805
823
+ ],
824
+ "rotation": [
825
+ 0,
826
+ 45.00004196166992,
827
+ 0
828
+ ]
829
+ },
830
+ "location": [
831
+ -188.717041015625,
832
+ -335.803466796875,
833
+ 88.05085754394531
834
+ ],
835
+ "rotation": [
836
+ 0,
837
+ 45.00004196166992,
838
+ 0
839
+ ],
840
+ "scale": [
841
+ 1,
842
+ 1,
843
+ 1
844
+ ]
845
+ },
846
+ "color": [
847
+ 63,
848
+ 31,
849
+ 191
850
+ ]
851
+ }
852
+ ]
853
+ }
854
+ }
scenes/annotations/HotelRoomVol1/l082_r002/scene_annotations_split.json ADDED
@@ -0,0 +1,1410 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l082_r002",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l082_r002/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ -65,
8
+ -160,
9
+ 199
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
+ -65,
38
+ -160,
39
+ 199,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1679,
60
+ 471
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "partition": [
116
+ {
117
+ "object_id": "SM_PartitionA",
118
+ "bbox_2d": [
119
+ 0,
120
+ 388,
121
+ 227,
122
+ 1079
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 22.016599655151367,
128
+ 193.6980038881302,
129
+ 127.42579746246338
130
+ ],
131
+ "extent": [
132
+ 41.49184036254883,
133
+ 1.18369460105896,
134
+ 112.56279754638672
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 22.016599655151367,
140
+ 193.6980038881302,
141
+ 127.42579746246338
142
+ ],
143
+ "extent": [
144
+ 41.49184036254883,
145
+ 1.18369460105896,
146
+ 112.56279754638672
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 22.016599655151367,
156
+ 193.697998046875,
157
+ 14.86299991607666
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
+ 0,
173
+ 0
174
+ ]
175
+ }
176
+ ],
177
+ "wall": [
178
+ {
179
+ "object_id": "SM_WallA",
180
+ "bbox_2d": [
181
+ 806,
182
+ 0,
183
+ 1919,
184
+ 425
185
+ ],
186
+ "bbox_3d": {
187
+ "aabb": {
188
+ "center": [
189
+ -210,
190
+ -10,
191
+ 140.00003051757812
192
+ ],
193
+ "extent": [
194
+ 10,
195
+ 473.3000183105469,
196
+ 140.00003051757812
197
+ ]
198
+ },
199
+ "obb": {
200
+ "center": [
201
+ -210,
202
+ -10,
203
+ 140.00003051757812
204
+ ],
205
+ "extent": [
206
+ 10,
207
+ 473.3000183105469,
208
+ 140.00003051757812
209
+ ],
210
+ "rotation": [
211
+ 0,
212
+ 0,
213
+ 0
214
+ ]
215
+ },
216
+ "location": [
217
+ -210,
218
+ -10,
219
+ 0
220
+ ],
221
+ "rotation": [
222
+ 0,
223
+ 0,
224
+ 0
225
+ ],
226
+ "scale": [
227
+ 1,
228
+ 1,
229
+ 1
230
+ ]
231
+ },
232
+ "color": [
233
+ 127,
234
+ 127,
235
+ 127
236
+ ]
237
+ },
238
+ {
239
+ "object_id": "SM_WallD",
240
+ "bbox_2d": [
241
+ 279,
242
+ 426,
243
+ 781,
244
+ 1079
245
+ ],
246
+ "bbox_3d": {
247
+ "aabb": {
248
+ "center": [
249
+ -119,
250
+ 338.29998779296875,
251
+ 140.00003051757812
252
+ ],
253
+ "extent": [
254
+ 101,
255
+ 145,
256
+ 140.00003051757812
257
+ ]
258
+ },
259
+ "obb": {
260
+ "center": [
261
+ -119,
262
+ 338.29998779296875,
263
+ 140.00003051757812
264
+ ],
265
+ "extent": [
266
+ 101,
267
+ 145,
268
+ 140.00003051757812
269
+ ],
270
+ "rotation": [
271
+ 0,
272
+ 0,
273
+ 0
274
+ ]
275
+ },
276
+ "location": [
277
+ -119,
278
+ 338.29998779296875,
279
+ 0
280
+ ],
281
+ "rotation": [
282
+ 0,
283
+ 0,
284
+ 0
285
+ ],
286
+ "scale": [
287
+ 1,
288
+ 1,
289
+ 1
290
+ ]
291
+ },
292
+ "color": [
293
+ 0,
294
+ 0,
295
+ 63
296
+ ]
297
+ },
298
+ {
299
+ "object_id": "SM_WallE",
300
+ "bbox_2d": [
301
+ 228,
302
+ 442,
303
+ 278,
304
+ 1002
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 101,
310
+ 338.79998779296875,
311
+ 140.00003051757812
312
+ ],
313
+ "extent": [
314
+ 119,
315
+ 144.5,
316
+ 140.00003051757812
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 101,
322
+ 338.79998779296875,
323
+ 140.00003051757812
324
+ ],
325
+ "extent": [
326
+ 119,
327
+ 144.5,
328
+ 140.00003051757812
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 101,
338
+ 338.79998779296875,
339
+ 0
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
+ 63
356
+ ]
357
+ }
358
+ ],
359
+ "floor": [
360
+ {
361
+ "object_id": "SM_FloorA",
362
+ "bbox_2d": [
363
+ 273,
364
+ 866,
365
+ 655,
366
+ 1079
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ 0,
372
+ 338.79998779296875,
373
+ -4.900002956390381
374
+ ],
375
+ "extent": [
376
+ 220,
377
+ 144.49998474121094,
378
+ 5.099997043609619
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ 0,
384
+ 338.79998779296875,
385
+ -4.900002956390381
386
+ ],
387
+ "extent": [
388
+ 220,
389
+ 144.49998474121094,
390
+ 5.099997043609619
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ 0,
400
+ 338.79998779296875,
401
+ 0
402
+ ],
403
+ "rotation": [
404
+ 0,
405
+ 0,
406
+ 0
407
+ ],
408
+ "scale": [
409
+ 1,
410
+ 1,
411
+ 1
412
+ ]
413
+ },
414
+ "color": [
415
+ 255,
416
+ 0,
417
+ 63
418
+ ]
419
+ },
420
+ {
421
+ "object_id": "SM_FloorB",
422
+ "bbox_2d": [
423
+ 707,
424
+ 1059,
425
+ 796,
426
+ 1079
427
+ ],
428
+ "bbox_3d": {
429
+ "aabb": {
430
+ "center": [
431
+ 0,
432
+ -134.5,
433
+ -5
434
+ ],
435
+ "extent": [
436
+ 220,
437
+ 328.8000183105469,
438
+ 5
439
+ ]
440
+ },
441
+ "obb": {
442
+ "center": [
443
+ 0,
444
+ -134.5,
445
+ -5
446
+ ],
447
+ "extent": [
448
+ 220,
449
+ 328.8000183105469,
450
+ 5
451
+ ],
452
+ "rotation": [
453
+ 0,
454
+ 0,
455
+ 0
456
+ ]
457
+ },
458
+ "location": [
459
+ 0,
460
+ -134.5,
461
+ 0
462
+ ],
463
+ "rotation": [
464
+ 0,
465
+ 0,
466
+ 0
467
+ ],
468
+ "scale": [
469
+ 1,
470
+ 1,
471
+ 1
472
+ ]
473
+ },
474
+ "color": [
475
+ 255,
476
+ 255,
477
+ 63
478
+ ]
479
+ }
480
+ ],
481
+ "door": [
482
+ {
483
+ "object_id": "SM_DoorA",
484
+ "bbox_2d": [
485
+ 381,
486
+ 466,
487
+ 558,
488
+ 897
489
+ ],
490
+ "bbox_3d": {
491
+ "aabb": {
492
+ "center": [
493
+ -99.04149246215226,
494
+ 469.8109707053685,
495
+ 120.44187164306231
496
+ ],
497
+ "extent": [
498
+ 45.91190087799756,
499
+ 7.500052451203317,
500
+ 120.44187295440872
501
+ ]
502
+ },
503
+ "obb": {
504
+ "center": [
505
+ -99.04149246215226,
506
+ 469.8109707053685,
507
+ 120.4418716430623
508
+ ],
509
+ "extent": [
510
+ 45.91190087799756,
511
+ 7.500052451203317,
512
+ 120.44187295440872
513
+ ],
514
+ "rotation": [
515
+ 0,
516
+ 1.0017900422099046e-05,
517
+ -1.0017900422099046e-05
518
+ ]
519
+ },
520
+ "location": [
521
+ -99.04149627685547,
522
+ 469.8110046386719,
523
+ 0
524
+ ],
525
+ "rotation": [
526
+ 0,
527
+ 1.0017900422099046e-05,
528
+ -1.0017900422099046e-05
529
+ ],
530
+ "scale": [
531
+ 1,
532
+ 1,
533
+ 1
534
+ ]
535
+ },
536
+ "color": [
537
+ 127,
538
+ 255,
539
+ 63
540
+ ]
541
+ }
542
+ ]
543
+ },
544
+ "foreground": {
545
+ "wardrobe": [
546
+ {
547
+ "object_id": "SM_Wardrobe",
548
+ "bbox_2d": [
549
+ 568,
550
+ 458,
551
+ 655,
552
+ 938
553
+ ],
554
+ "bbox_3d": {
555
+ "aabb": {
556
+ "center": [
557
+ -175,
558
+ 403.299991607666,
559
+ 120
560
+ ],
561
+ "extent": [
562
+ 25,
563
+ 60.000003814697266,
564
+ 120
565
+ ]
566
+ },
567
+ "obb": {
568
+ "center": [
569
+ -175,
570
+ 403.299991607666,
571
+ 120
572
+ ],
573
+ "extent": [
574
+ 25,
575
+ 60.000003814697266,
576
+ 120
577
+ ],
578
+ "rotation": [
579
+ 0,
580
+ 0,
581
+ 0
582
+ ]
583
+ },
584
+ "location": [
585
+ -200,
586
+ 403.29998779296875,
587
+ 0
588
+ ],
589
+ "rotation": [
590
+ 0,
591
+ 0,
592
+ 0
593
+ ],
594
+ "scale": [
595
+ 1,
596
+ 1,
597
+ 1
598
+ ]
599
+ },
600
+ "color": [
601
+ 255,
602
+ 0,
603
+ 127
604
+ ]
605
+ }
606
+ ],
607
+ "cabinet": [
608
+ {
609
+ "object_id": "SM_CabinetA",
610
+ "bbox_2d": [
611
+ 603,
612
+ 773,
613
+ 655,
614
+ 1026
615
+ ],
616
+ "bbox_3d": {
617
+ "aabb": {
618
+ "center": [
619
+ -175,
620
+ 273.2999954223633,
621
+ 40
622
+ ],
623
+ "extent": [
624
+ 25,
625
+ 69.99998474121094,
626
+ 40
627
+ ]
628
+ },
629
+ "obb": {
630
+ "center": [
631
+ -175,
632
+ 273.2999954223633,
633
+ 40
634
+ ],
635
+ "extent": [
636
+ 25,
637
+ 69.99998474121094,
638
+ 40
639
+ ],
640
+ "rotation": [
641
+ 0,
642
+ 0,
643
+ 0
644
+ ]
645
+ },
646
+ "location": [
647
+ -200,
648
+ 278.29998779296875,
649
+ 0
650
+ ],
651
+ "rotation": [
652
+ 0,
653
+ 0,
654
+ 0
655
+ ],
656
+ "scale": [
657
+ 1,
658
+ 1,
659
+ 1
660
+ ]
661
+ },
662
+ "color": [
663
+ 255,
664
+ 255,
665
+ 127
666
+ ]
667
+ }
668
+ ],
669
+ "drawer": [
670
+ {
671
+ "object_id": "SM_Drawer",
672
+ "bbox_2d": [
673
+ 731,
674
+ 876,
675
+ 1009,
676
+ 1079
677
+ ],
678
+ "bbox_3d": {
679
+ "aabb": {
680
+ "center": [
681
+ -185.02699279785156,
682
+ -53.120384216308594,
683
+ 60.19429588317871
684
+ ],
685
+ "extent": [
686
+ 15,
687
+ 246.42047119140625,
688
+ 10
689
+ ]
690
+ },
691
+ "obb": {
692
+ "center": [
693
+ -185.02699279785156,
694
+ -53.120384216308594,
695
+ 60.19429588317871
696
+ ],
697
+ "extent": [
698
+ 15,
699
+ 246.42047119140625,
700
+ 10
701
+ ],
702
+ "rotation": [
703
+ 0,
704
+ 0,
705
+ 0
706
+ ]
707
+ },
708
+ "location": [
709
+ -200.02699279785156,
710
+ -53.120399475097656,
711
+ 50.19430160522461
712
+ ],
713
+ "rotation": [
714
+ 0,
715
+ 0,
716
+ 0
717
+ ],
718
+ "scale": [
719
+ 1,
720
+ 1,
721
+ 1
722
+ ]
723
+ },
724
+ "color": [
725
+ 255,
726
+ 127,
727
+ 127
728
+ ]
729
+ }
730
+ ],
731
+ "tv background wall": [
732
+ {
733
+ "object_id": "SM_TVBackgroundwall",
734
+ "bbox_2d": [
735
+ 782,
736
+ 110,
737
+ 1919,
738
+ 1079
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ -194.99996089935303,
744
+ -2.927030086517334,
745
+ 120.00000762939453
746
+ ],
747
+ "extent": [
748
+ 5.000057220458984,
749
+ 196.22706604003906,
750
+ 119.99999237060547
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ -194.99996089935303,
756
+ -2.927030086517334,
757
+ 120.00000762939453
758
+ ],
759
+ "extent": [
760
+ 5.000057220458984,
761
+ 196.22706604003906,
762
+ 119.99999237060547
763
+ ],
764
+ "rotation": [
765
+ 0,
766
+ 0,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ -200,
772
+ -2.927030086517334,
773
+ 0
774
+ ],
775
+ "rotation": [
776
+ 0,
777
+ 0,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 1,
782
+ 1,
783
+ 1
784
+ ]
785
+ },
786
+ "color": [
787
+ 127,
788
+ 255,
789
+ 0
790
+ ]
791
+ }
792
+ ],
793
+ "tv": [
794
+ {
795
+ "object_id": "SM_TV",
796
+ "bbox_2d": [
797
+ 1007,
798
+ 663,
799
+ 1919,
800
+ 1079
801
+ ],
802
+ "bbox_3d": {
803
+ "aabb": {
804
+ "center": [
805
+ -191.59167134761813,
806
+ -58.649101053747344,
807
+ 122.68900299072266
808
+ ],
809
+ "extent": [
810
+ 1.164358076520415,
811
+ 93.73062917086345,
812
+ 46.75914001464844
813
+ ]
814
+ },
815
+ "obb": {
816
+ "center": [
817
+ -191.59167134761813,
818
+ -58.649101053747344,
819
+ 122.68900299072266
820
+ ],
821
+ "extent": [
822
+ 1.164358076520415,
823
+ 93.73062917086345,
824
+ 46.75914001464844
825
+ ],
826
+ "rotation": [
827
+ 0,
828
+ 1.0017900422099046e-05,
829
+ 0
830
+ ]
831
+ },
832
+ "location": [
833
+ -192.75599670410156,
834
+ -58.64910125732422,
835
+ 122.68900299072266
836
+ ],
837
+ "rotation": [
838
+ 0,
839
+ 1.0017900422099046e-05,
840
+ 0
841
+ ],
842
+ "scale": [
843
+ 1,
844
+ 1,
845
+ 1
846
+ ]
847
+ },
848
+ "color": [
849
+ 127,
850
+ 127,
851
+ 63
852
+ ]
853
+ }
854
+ ],
855
+ "table": [
856
+ {
857
+ "object_id": "SM_TableC",
858
+ "bbox_2d": [
859
+ 228,
860
+ 885,
861
+ 289,
862
+ 1079
863
+ ],
864
+ "bbox_3d": {
865
+ "aabb": {
866
+ "center": [
867
+ -9.646620750427246,
868
+ 219.05599975585938,
869
+ 40.0767922103405
870
+ ],
871
+ "extent": [
872
+ 20.747682571411133,
873
+ 24.091129302978516,
874
+ 39.9232292175293
875
+ ]
876
+ },
877
+ "obb": {
878
+ "center": [
879
+ -9.646620750427246,
880
+ 219.05599975585938,
881
+ 40.0767922103405
882
+ ],
883
+ "extent": [
884
+ 20.747682571411133,
885
+ 24.091129302978516,
886
+ 39.9232292175293
887
+ ],
888
+ "rotation": [
889
+ 0,
890
+ 0,
891
+ 0
892
+ ]
893
+ },
894
+ "location": [
895
+ -9.64663028717041,
896
+ 219.05599975585938,
897
+ 0.153562992811203
898
+ ],
899
+ "rotation": [
900
+ 0,
901
+ 0,
902
+ 0
903
+ ],
904
+ "scale": [
905
+ 1,
906
+ 1,
907
+ 1
908
+ ]
909
+ },
910
+ "color": [
911
+ 0,
912
+ 63,
913
+ 0
914
+ ]
915
+ }
916
+ ],
917
+ "tray": [
918
+ {
919
+ "object_id": "SM_TrayB",
920
+ "bbox_2d": [
921
+ 228,
922
+ 878,
923
+ 272,
924
+ 936
925
+ ],
926
+ "bbox_3d": {
927
+ "aabb": {
928
+ "center": [
929
+ -9.585789680480957,
930
+ 218.9920139312744,
931
+ 81.9322018623352
932
+ ],
933
+ "extent": [
934
+ 16.101682662963867,
935
+ 21.959720611572266,
936
+ 1.9322013854980469
937
+ ]
938
+ },
939
+ "obb": {
940
+ "center": [
941
+ -9.585789680480957,
942
+ 218.9920139312744,
943
+ 81.9322018623352
944
+ ],
945
+ "extent": [
946
+ 16.101682662963867,
947
+ 21.959720611572266,
948
+ 1.9322013854980469
949
+ ],
950
+ "rotation": [
951
+ 0,
952
+ 0,
953
+ 0
954
+ ]
955
+ },
956
+ "location": [
957
+ -9.585789680480957,
958
+ 218.99200439453125,
959
+ 80
960
+ ],
961
+ "rotation": [
962
+ 0,
963
+ 0,
964
+ 0
965
+ ],
966
+ "scale": [
967
+ 1,
968
+ 1,
969
+ 1
970
+ ]
971
+ },
972
+ "color": [
973
+ 0,
974
+ 63,
975
+ 255
976
+ ]
977
+ }
978
+ ],
979
+ "downlight": [
980
+ {
981
+ "object_id": "SM_Downlight",
982
+ "bbox_2d": [
983
+ 465,
984
+ 462,
985
+ 475,
986
+ 462
987
+ ],
988
+ "bbox_3d": {
989
+ "aabb": {
990
+ "center": [
991
+ -94.48179626464844,
992
+ 408.14199805259705,
993
+ 239.90361881256104
994
+ ],
995
+ "extent": [
996
+ 2.663709878921509,
997
+ 2.6637096405029297,
998
+ 0.12138538062572479
999
+ ]
1000
+ },
1001
+ "obb": {
1002
+ "center": [
1003
+ -94.48179626464844,
1004
+ 408.14199805259705,
1005
+ 239.90361881256104
1006
+ ],
1007
+ "extent": [
1008
+ 2.663709878921509,
1009
+ 2.6637096405029297,
1010
+ 0.12138538062572479
1011
+ ],
1012
+ "rotation": [
1013
+ 0,
1014
+ 0,
1015
+ 0
1016
+ ]
1017
+ },
1018
+ "location": [
1019
+ -94.48179626464844,
1020
+ 408.1419982910156,
1021
+ 240.02499389648438
1022
+ ],
1023
+ "rotation": [
1024
+ 0,
1025
+ 0,
1026
+ 0
1027
+ ],
1028
+ "scale": [
1029
+ 1,
1030
+ 1,
1031
+ 1
1032
+ ]
1033
+ },
1034
+ "color": [
1035
+ 63,
1036
+ 255,
1037
+ 255
1038
+ ]
1039
+ }
1040
+ ],
1041
+ "air conditioning": [
1042
+ {
1043
+ "object_id": "SM_AirConditioningA",
1044
+ "bbox_2d": [
1045
+ 0,
1046
+ 312,
1047
+ 645,
1048
+ 417
1049
+ ],
1050
+ "bbox_3d": {
1051
+ "aabb": {
1052
+ "center": [
1053
+ 10.882030487060547,
1054
+ 193.0000071823597,
1055
+ 251.44998836517334
1056
+ ],
1057
+ "extent": [
1058
+ 150.00003051757812,
1059
+ 0.30008038878440857,
1060
+ 8.791104316711426
1061
+ ]
1062
+ },
1063
+ "obb": {
1064
+ "center": [
1065
+ 10.882030487060547,
1066
+ 193.0000071823597,
1067
+ 251.44998836517334
1068
+ ],
1069
+ "extent": [
1070
+ 150.00003051757812,
1071
+ 0.30008038878440857,
1072
+ 8.791104316711426
1073
+ ],
1074
+ "rotation": [
1075
+ 0,
1076
+ 0,
1077
+ 0
1078
+ ]
1079
+ },
1080
+ "location": [
1081
+ 10.881999969482422,
1082
+ 193.3000030517578,
1083
+ 251.4499969482422
1084
+ ],
1085
+ "rotation": [
1086
+ 0,
1087
+ 0,
1088
+ 0
1089
+ ],
1090
+ "scale": [
1091
+ 1,
1092
+ 1,
1093
+ 1
1094
+ ]
1095
+ },
1096
+ "color": [
1097
+ 63,
1098
+ 127,
1099
+ 63
1100
+ ]
1101
+ },
1102
+ {
1103
+ "object_id": "SM_AirConditioningB",
1104
+ "bbox_2d": [
1105
+ 257,
1106
+ 407,
1107
+ 638,
1108
+ 434
1109
+ ],
1110
+ "bbox_3d": {
1111
+ "aabb": {
1112
+ "center": [
1113
+ -82.22164916992188,
1114
+ 213.48900699615479,
1115
+ 239.6999982893467
1116
+ ],
1117
+ "extent": [
1118
+ 56.89637756347656,
1119
+ 8.791104316711426,
1120
+ 0.30008044838905334
1121
+ ]
1122
+ },
1123
+ "obb": {
1124
+ "center": [
1125
+ -82.22164916992188,
1126
+ 213.48900699615479,
1127
+ 239.6999982893467
1128
+ ],
1129
+ "extent": [
1130
+ 56.89637756347656,
1131
+ 8.791104316711426,
1132
+ 0.30008044838905334
1133
+ ],
1134
+ "rotation": [
1135
+ 0,
1136
+ 0,
1137
+ 0
1138
+ ]
1139
+ },
1140
+ "location": [
1141
+ -80.90760040283203,
1142
+ 213.48899841308594,
1143
+ 240
1144
+ ],
1145
+ "rotation": [
1146
+ 0,
1147
+ 0,
1148
+ 0
1149
+ ],
1150
+ "scale": [
1151
+ 1,
1152
+ 1,
1153
+ 1
1154
+ ]
1155
+ },
1156
+ "color": [
1157
+ 63,
1158
+ 63,
1159
+ 0
1160
+ ]
1161
+ }
1162
+ ],
1163
+ "kettle": [
1164
+ {
1165
+ "object_id": "SM_Kettle",
1166
+ "bbox_2d": [
1167
+ 651,
1168
+ 748,
1169
+ 655,
1170
+ 795
1171
+ ],
1172
+ "bbox_3d": {
1173
+ "aabb": {
1174
+ "center": [
1175
+ -174.96100521087646,
1176
+ 303.7879877090454,
1177
+ 96.61308860778809
1178
+ ],
1179
+ "extent": [
1180
+ 10.519744873046875,
1181
+ 13.488739013671875,
1182
+ 16.630197525024414
1183
+ ]
1184
+ },
1185
+ "obb": {
1186
+ "center": [
1187
+ -174.96100521087646,
1188
+ 303.7879877090454,
1189
+ 96.61308860778809
1190
+ ],
1191
+ "extent": [
1192
+ 10.519744873046875,
1193
+ 13.488739013671875,
1194
+ 16.630197525024414
1195
+ ],
1196
+ "rotation": [
1197
+ 0,
1198
+ 0,
1199
+ 0
1200
+ ]
1201
+ },
1202
+ "location": [
1203
+ -174.96099853515625,
1204
+ 303.7879943847656,
1205
+ 79.98380279541016
1206
+ ],
1207
+ "rotation": [
1208
+ 0,
1209
+ 0,
1210
+ 0
1211
+ ],
1212
+ "scale": [
1213
+ 1,
1214
+ 1,
1215
+ 1
1216
+ ]
1217
+ },
1218
+ "color": [
1219
+ 63,
1220
+ 63,
1221
+ 255
1222
+ ]
1223
+ }
1224
+ ],
1225
+ "towel": [
1226
+ {
1227
+ "object_id": "SM_TowelB",
1228
+ "bbox_2d": [
1229
+ 255,
1230
+ 1029,
1231
+ 259,
1232
+ 1048
1233
+ ],
1234
+ "bbox_3d": {
1235
+ "aabb": {
1236
+ "center": [
1237
+ -9.939256668092156,
1238
+ 229.15699005126902,
1239
+ 37.04300022125244
1240
+ ],
1241
+ "extent": [
1242
+ 14.07720446878406,
1243
+ 9.561871128935792,
1244
+ 2.555481195449829
1245
+ ]
1246
+ },
1247
+ "obb": {
1248
+ "center": [
1249
+ -9.939256668092156,
1250
+ 229.15699005126902,
1251
+ 37.04300022125244
1252
+ ],
1253
+ "extent": [
1254
+ 14.07720446878406,
1255
+ 9.561871128935792,
1256
+ 2.555481195449829
1257
+ ],
1258
+ "rotation": [
1259
+ 0,
1260
+ -1.0017900422099046e-05,
1261
+ 0
1262
+ ]
1263
+ },
1264
+ "location": [
1265
+ -9.93925952911377,
1266
+ 229.15699768066406,
1267
+ 37.042999267578125
1268
+ ],
1269
+ "rotation": [
1270
+ 0,
1271
+ -1.0017900422099046e-05,
1272
+ 0
1273
+ ],
1274
+ "scale": [
1275
+ 1,
1276
+ 1,
1277
+ 1
1278
+ ]
1279
+ },
1280
+ "color": [
1281
+ 0,
1282
+ 127,
1283
+ 191
1284
+ ]
1285
+ },
1286
+ {
1287
+ "object_id": "SM_TowelA",
1288
+ "bbox_2d": [
1289
+ 238,
1290
+ 872,
1291
+ 255,
1292
+ 889
1293
+ ],
1294
+ "bbox_3d": {
1295
+ "aabb": {
1296
+ "center": [
1297
+ -12.525300025939607,
1298
+ 234.2050142288208,
1299
+ 85.49699974060059
1300
+ ],
1301
+ "extent": [
1302
+ 9.230227010771447,
1303
+ 3.149841785430908,
1304
+ 2.825629894501759
1305
+ ]
1306
+ },
1307
+ "obb": {
1308
+ "center": [
1309
+ -12.525300025939607,
1310
+ 234.2050142288208,
1311
+ 85.49699974060059
1312
+ ],
1313
+ "extent": [
1314
+ 9.230227010771447,
1315
+ 3.149841785430908,
1316
+ 2.825629894501759
1317
+ ],
1318
+ "rotation": [
1319
+ 1.0017900422099046e-05,
1320
+ 0,
1321
+ 0
1322
+ ]
1323
+ },
1324
+ "location": [
1325
+ -12.525300025939941,
1326
+ 234.2050018310547,
1327
+ 85.49700164794922
1328
+ ],
1329
+ "rotation": [
1330
+ 1.0017900422099046e-05,
1331
+ 0,
1332
+ 0
1333
+ ],
1334
+ "scale": [
1335
+ 1,
1336
+ 1,
1337
+ 1
1338
+ ]
1339
+ },
1340
+ "color": [
1341
+ 0,
1342
+ 63,
1343
+ 191
1344
+ ]
1345
+ }
1346
+ ],
1347
+ "shelf": [
1348
+ {
1349
+ "object_id": "SM_Shelf",
1350
+ "bbox_2d": [
1351
+ 654,
1352
+ 605,
1353
+ 655,
1354
+ 613
1355
+ ],
1356
+ "bbox_3d": {
1357
+ "aabb": {
1358
+ "center": [
1359
+ -187.5,
1360
+ 273.29998779296875,
1361
+ 163.53599548339844
1362
+ ],
1363
+ "extent": [
1364
+ 12.5,
1365
+ 69.99999237060547,
1366
+ 2
1367
+ ]
1368
+ },
1369
+ "obb": {
1370
+ "center": [
1371
+ -187.5,
1372
+ 273.29998779296875,
1373
+ 163.53599548339844
1374
+ ],
1375
+ "extent": [
1376
+ 12.5,
1377
+ 69.99999237060547,
1378
+ 2
1379
+ ],
1380
+ "rotation": [
1381
+ 0,
1382
+ 0,
1383
+ 0
1384
+ ]
1385
+ },
1386
+ "location": [
1387
+ -200,
1388
+ 273.29998779296875,
1389
+ 161.53599548339844
1390
+ ],
1391
+ "rotation": [
1392
+ 0,
1393
+ 0,
1394
+ 0
1395
+ ],
1396
+ "scale": [
1397
+ 1,
1398
+ 1,
1399
+ 1
1400
+ ]
1401
+ },
1402
+ "color": [
1403
+ 63,
1404
+ 127,
1405
+ 191
1406
+ ]
1407
+ }
1408
+ ]
1409
+ }
1410
+ }
scenes/annotations/HotelRoomVol1/l085_r003/scene_annotations_split.json ADDED
@@ -0,0 +1,794 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l085_r003",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l085_r003/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 0,
8
+ -307,
9
+ 212
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
+ 0,
38
+ -307,
39
+ 212,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 602,
60
+ 285
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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_CeilingB",
116
+ "bbox_2d": [
117
+ 202,
118
+ 0,
119
+ 1919,
120
+ 411
121
+ ],
122
+ "bbox_3d": {
123
+ "aabb": {
124
+ "center": [
125
+ 0,
126
+ -358.29998779296875,
127
+ 238
128
+ ],
129
+ "extent": [
130
+ 180,
131
+ 85,
132
+ 2
133
+ ]
134
+ },
135
+ "obb": {
136
+ "center": [
137
+ 0,
138
+ -358.29998779296875,
139
+ 238
140
+ ],
141
+ "extent": [
142
+ 180,
143
+ 85,
144
+ 2
145
+ ],
146
+ "rotation": [
147
+ 0,
148
+ 0,
149
+ 0
150
+ ]
151
+ },
152
+ "location": [
153
+ 0,
154
+ -358.29998779296875,
155
+ 236
156
+ ],
157
+ "rotation": [
158
+ 0,
159
+ 0,
160
+ 0
161
+ ],
162
+ "scale": [
163
+ 1,
164
+ 1,
165
+ 1
166
+ ]
167
+ },
168
+ "color": [
169
+ 127,
170
+ 255,
171
+ 255
172
+ ]
173
+ }
174
+ ],
175
+ "wall": [
176
+ {
177
+ "object_id": "SM_WallA",
178
+ "bbox_2d": [
179
+ 0,
180
+ 286,
181
+ 779,
182
+ 1079
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ -210,
188
+ -10,
189
+ 140.00003051757812
190
+ ],
191
+ "extent": [
192
+ 10,
193
+ 473.3000183105469,
194
+ 140.00003051757812
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ -210,
200
+ -10,
201
+ 140.00003051757812
202
+ ],
203
+ "extent": [
204
+ 10,
205
+ 473.3000183105469,
206
+ 140.00003051757812
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ -210,
216
+ -10,
217
+ 0
218
+ ],
219
+ "rotation": [
220
+ 0,
221
+ 0,
222
+ 0
223
+ ],
224
+ "scale": [
225
+ 1,
226
+ 1,
227
+ 1
228
+ ]
229
+ },
230
+ "color": [
231
+ 127,
232
+ 127,
233
+ 127
234
+ ]
235
+ }
236
+ ]
237
+ },
238
+ "foreground": {
239
+ "curtain": [
240
+ {
241
+ "object_id": "SM_CurtainA",
242
+ "bbox_2d": [
243
+ 1687,
244
+ 382,
245
+ 1857,
246
+ 1079
247
+ ],
248
+ "bbox_3d": {
249
+ "aabb": {
250
+ "center": [
251
+ -184.63999557495117,
252
+ -450.303014755249,
253
+ 140.9367218017578
254
+ ],
255
+ "extent": [
256
+ 24.034090042114258,
257
+ 8.739770889282227,
258
+ 138.2534637451172
259
+ ]
260
+ },
261
+ "obb": {
262
+ "center": [
263
+ -184.63999557495117,
264
+ -450.303014755249,
265
+ 140.9367218017578
266
+ ],
267
+ "extent": [
268
+ 24.034090042114258,
269
+ 8.739770889282227,
270
+ 138.2534637451172
271
+ ],
272
+ "rotation": [
273
+ 0,
274
+ 0,
275
+ 0
276
+ ]
277
+ },
278
+ "location": [
279
+ -184.63999938964844,
280
+ -450.3030090332031,
281
+ 279.12200927734375
282
+ ],
283
+ "rotation": [
284
+ 0,
285
+ 0,
286
+ 0
287
+ ],
288
+ "scale": [
289
+ 1,
290
+ 1,
291
+ 1
292
+ ]
293
+ },
294
+ "color": [
295
+ 0,
296
+ 127,
297
+ 255
298
+ ]
299
+ },
300
+ {
301
+ "object_id": "SM_CurtainB",
302
+ "bbox_2d": [
303
+ 1841,
304
+ 371,
305
+ 1919,
306
+ 1079
307
+ ],
308
+ "bbox_3d": {
309
+ "aabb": {
310
+ "center": [
311
+ -191.80099868774215,
312
+ -460.06000900268623,
313
+ 140.17323303222656
314
+ ],
315
+ "extent": [
316
+ 49.35889114727598,
317
+ 3.510708140746601,
318
+ 138.00962829589844
319
+ ]
320
+ },
321
+ "obb": {
322
+ "center": [
323
+ -191.80099868774215,
324
+ -460.06000900268623,
325
+ 140.17323303222656
326
+ ],
327
+ "extent": [
328
+ 49.35889114727598,
329
+ 3.510708140746601,
330
+ 138.00962829589844
331
+ ],
332
+ "rotation": [
333
+ 0,
334
+ 1.0017900422099046e-05,
335
+ 0
336
+ ]
337
+ },
338
+ "location": [
339
+ -191.80099487304688,
340
+ -460.05999755859375,
341
+ 277.52301025390625
342
+ ],
343
+ "rotation": [
344
+ 0,
345
+ 1.0017900422099046e-05,
346
+ 0
347
+ ],
348
+ "scale": [
349
+ 1,
350
+ 1,
351
+ 1
352
+ ]
353
+ },
354
+ "color": [
355
+ 255,
356
+ 127,
357
+ 0
358
+ ]
359
+ }
360
+ ],
361
+ "cabinet": [
362
+ {
363
+ "object_id": "SM_CabinetB",
364
+ "bbox_2d": [
365
+ 780,
366
+ 412,
367
+ 1686,
368
+ 1079
369
+ ],
370
+ "bbox_3d": {
371
+ "aabb": {
372
+ "center": [
373
+ -190,
374
+ -358.2999725341797,
375
+ 127.49999237060547
376
+ ],
377
+ "extent": [
378
+ 10,
379
+ 85.00001525878906,
380
+ 112.5
381
+ ]
382
+ },
383
+ "obb": {
384
+ "center": [
385
+ -190,
386
+ -358.2999725341797,
387
+ 127.49999237060547
388
+ ],
389
+ "extent": [
390
+ 10,
391
+ 85.00001525878906,
392
+ 112.5
393
+ ],
394
+ "rotation": [
395
+ 0,
396
+ 0,
397
+ 0
398
+ ]
399
+ },
400
+ "location": [
401
+ -200,
402
+ -358.29998779296875,
403
+ 15
404
+ ],
405
+ "rotation": [
406
+ 0,
407
+ 0,
408
+ 0
409
+ ],
410
+ "scale": [
411
+ 1,
412
+ 1,
413
+ 1
414
+ ]
415
+ },
416
+ "color": [
417
+ 127,
418
+ 0,
419
+ 255
420
+ ]
421
+ }
422
+ ],
423
+ "tv background wall": [
424
+ {
425
+ "object_id": "SM_TVBackgroundwall",
426
+ "bbox_2d": [
427
+ 0,
428
+ 399,
429
+ 441,
430
+ 1079
431
+ ],
432
+ "bbox_3d": {
433
+ "aabb": {
434
+ "center": [
435
+ -194.99996089935303,
436
+ -2.927030086517334,
437
+ 120.00000762939453
438
+ ],
439
+ "extent": [
440
+ 5.000057220458984,
441
+ 196.22706604003906,
442
+ 119.99999237060547
443
+ ]
444
+ },
445
+ "obb": {
446
+ "center": [
447
+ -194.99996089935303,
448
+ -2.927030086517334,
449
+ 120.00000762939453
450
+ ],
451
+ "extent": [
452
+ 5.000057220458984,
453
+ 196.22706604003906,
454
+ 119.99999237060547
455
+ ],
456
+ "rotation": [
457
+ 0,
458
+ 0,
459
+ 0
460
+ ]
461
+ },
462
+ "location": [
463
+ -200,
464
+ -2.927030086517334,
465
+ 0
466
+ ],
467
+ "rotation": [
468
+ 0,
469
+ 0,
470
+ 0
471
+ ],
472
+ "scale": [
473
+ 1,
474
+ 1,
475
+ 1
476
+ ]
477
+ },
478
+ "color": [
479
+ 127,
480
+ 255,
481
+ 0
482
+ ]
483
+ }
484
+ ],
485
+ "tv": [
486
+ {
487
+ "object_id": "SM_TV",
488
+ "bbox_2d": [
489
+ 0,
490
+ 754,
491
+ 184,
492
+ 1079
493
+ ],
494
+ "bbox_3d": {
495
+ "aabb": {
496
+ "center": [
497
+ -191.59167134761813,
498
+ -58.649101053747344,
499
+ 122.68900299072266
500
+ ],
501
+ "extent": [
502
+ 1.164358076520415,
503
+ 93.73062917086345,
504
+ 46.75914001464844
505
+ ]
506
+ },
507
+ "obb": {
508
+ "center": [
509
+ -191.59167134761813,
510
+ -58.649101053747344,
511
+ 122.68900299072266
512
+ ],
513
+ "extent": [
514
+ 1.164358076520415,
515
+ 93.73062917086345,
516
+ 46.75914001464844
517
+ ],
518
+ "rotation": [
519
+ 0,
520
+ 1.0017900422099046e-05,
521
+ 0
522
+ ]
523
+ },
524
+ "location": [
525
+ -192.75599670410156,
526
+ -58.64910125732422,
527
+ 122.68900299072266
528
+ ],
529
+ "rotation": [
530
+ 0,
531
+ 1.0017900422099046e-05,
532
+ 0
533
+ ],
534
+ "scale": [
535
+ 1,
536
+ 1,
537
+ 1
538
+ ]
539
+ },
540
+ "color": [
541
+ 127,
542
+ 127,
543
+ 63
544
+ ]
545
+ }
546
+ ],
547
+ "plant": [
548
+ {
549
+ "object_id": "SM_Plant",
550
+ "bbox_2d": [
551
+ 472,
552
+ 897,
553
+ 719,
554
+ 1079
555
+ ],
556
+ "bbox_3d": {
557
+ "aabb": {
558
+ "center": [
559
+ -186.37751579284668,
560
+ -237.51317405700684,
561
+ 106.01042938232422
562
+ ],
563
+ "extent": [
564
+ 9.79758358001709,
565
+ 22.762449264526367,
566
+ 36.91743469238281
567
+ ]
568
+ },
569
+ "obb": {
570
+ "center": [
571
+ -186.37751579284668,
572
+ -237.51317405700684,
573
+ 106.01042938232422
574
+ ],
575
+ "extent": [
576
+ 9.79758358001709,
577
+ 22.762449264526367,
578
+ 36.91743469238281
579
+ ],
580
+ "rotation": [
581
+ 0,
582
+ 0,
583
+ 0
584
+ ]
585
+ },
586
+ "location": [
587
+ -184.35899353027344,
588
+ -235.2469940185547,
589
+ 69.09300231933594
590
+ ],
591
+ "rotation": [
592
+ 0,
593
+ 0,
594
+ 0
595
+ ],
596
+ "scale": [
597
+ 1,
598
+ 1,
599
+ 1
600
+ ]
601
+ },
602
+ "color": [
603
+ 255,
604
+ 0,
605
+ 191
606
+ ]
607
+ }
608
+ ],
609
+ "picture": [
610
+ {
611
+ "object_id": "SM_Picture",
612
+ "bbox_2d": [
613
+ 551,
614
+ 537,
615
+ 678,
616
+ 715
617
+ ],
618
+ "bbox_3d": {
619
+ "aabb": {
620
+ "center": [
621
+ -199.76694284379482,
622
+ -235.24699306488037,
623
+ 193.97799110412598
624
+ ],
625
+ "extent": [
626
+ 0.22517012059688568,
627
+ 13.180268287658691,
628
+ 18.640668869018555
629
+ ]
630
+ },
631
+ "obb": {
632
+ "center": [
633
+ -199.76694284379482,
634
+ -235.24699306488037,
635
+ 193.97799110412598
636
+ ],
637
+ "extent": [
638
+ 0.22517012059688568,
639
+ 13.180268287658691,
640
+ 18.640668869018555
641
+ ],
642
+ "rotation": [
643
+ 0,
644
+ 0,
645
+ 0
646
+ ]
647
+ },
648
+ "location": [
649
+ -199.99200439453125,
650
+ -235.2469940185547,
651
+ 193.97799682617188
652
+ ],
653
+ "rotation": [
654
+ 0,
655
+ 0,
656
+ 0
657
+ ],
658
+ "scale": [
659
+ 1,
660
+ 1,
661
+ 1
662
+ ]
663
+ },
664
+ "color": [
665
+ 127,
666
+ 0,
667
+ 191
668
+ ]
669
+ }
670
+ ],
671
+ "ornament": [
672
+ {
673
+ "object_id": "SM_OrnamentC_2",
674
+ "bbox_2d": [
675
+ 1023,
676
+ 1060,
677
+ 1079,
678
+ 1079
679
+ ],
680
+ "bbox_3d": {
681
+ "aabb": {
682
+ "center": [
683
+ -190.45645141601562,
684
+ -325.1131591796875,
685
+ 96.93545506470139
686
+ ],
687
+ "extent": [
688
+ 5.644383376909559,
689
+ 5.64438397869327,
690
+ 8.884597520756074
691
+ ]
692
+ },
693
+ "obb": {
694
+ "center": [
695
+ -190.45645141601562,
696
+ -325.1131591796875,
697
+ 96.93545506470139
698
+ ],
699
+ "extent": [
700
+ 5.644383376909559,
701
+ 5.64438397869327,
702
+ 8.884597520756074
703
+ ],
704
+ "rotation": [
705
+ 0,
706
+ 0,
707
+ 0
708
+ ]
709
+ },
710
+ "location": [
711
+ -190.45645141601562,
712
+ -325.1131591796875,
713
+ 88.05085754394531
714
+ ],
715
+ "rotation": [
716
+ 0,
717
+ 0,
718
+ 0
719
+ ],
720
+ "scale": [
721
+ 0.631015956401825,
722
+ 0.631015956401825,
723
+ 0.8310162425041199
724
+ ]
725
+ },
726
+ "color": [
727
+ 63,
728
+ 31,
729
+ 0
730
+ ]
731
+ },
732
+ {
733
+ "object_id": "SM_OrnamentD_10",
734
+ "bbox_2d": [
735
+ 1376,
736
+ 1058,
737
+ 1388,
738
+ 1079
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ -193.01506074165886,
744
+ -392.0024108886719,
745
+ 97.88160162473139
746
+ ],
747
+ "extent": [
748
+ 4.2531043675359115,
749
+ 4.1884908315691405,
750
+ 9.830744080786076
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ -193.01506074165886,
756
+ -392.0024108886719,
757
+ 97.88160162473139
758
+ ],
759
+ "extent": [
760
+ 4.2531043675359115,
761
+ 4.1884908315691405,
762
+ 9.830744080786076
763
+ ],
764
+ "rotation": [
765
+ 0,
766
+ 0,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ -193.0150604248047,
772
+ -392.0024108886719,
773
+ 88.05085754394531
774
+ ],
775
+ "rotation": [
776
+ 0,
777
+ 0,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 0.6644913554191589,
782
+ 0.6644913554191589,
783
+ 0.6644913554191589
784
+ ]
785
+ },
786
+ "color": [
787
+ 63,
788
+ 31,
789
+ 255
790
+ ]
791
+ }
792
+ ]
793
+ }
794
+ }
scenes/annotations/HotelRoomVol1/l089_r004/scene_annotations_split.json ADDED
@@ -0,0 +1,794 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scene_name": "HotelRoomVol1",
3
+ "view_id": "l089_r004",
4
+ "image_path": "/home/xwang378/scratch/2025/Taxonomy/Data/simulationImage/zehan/HotelRoomVol1/l089_r004/lit.png",
5
+ "camera": {
6
+ "location": [
7
+ 159,
8
+ 277,
9
+ 201
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
+ 159,
38
+ 277,
39
+ 201,
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_CeilingA",
56
+ "bbox_2d": [
57
+ 0,
58
+ 0,
59
+ 1335,
60
+ 406
61
+ ],
62
+ "bbox_3d": {
63
+ "aabb": {
64
+ "center": [
65
+ 0,
66
+ 20,
67
+ 260.0020751953125
68
+ ],
69
+ "extent": [
70
+ 200,
71
+ 463.29998779296875,
72
+ 20.002090454101562
73
+ ]
74
+ },
75
+ "obb": {
76
+ "center": [
77
+ 0,
78
+ 20,
79
+ 260.0020751953125
80
+ ],
81
+ "extent": [
82
+ 200,
83
+ 463.29998779296875,
84
+ 20.002090454101562
85
+ ],
86
+ "rotation": [
87
+ 0,
88
+ 0,
89
+ 0
90
+ ]
91
+ },
92
+ "location": [
93
+ 0,
94
+ 20,
95
+ 0
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
+ "wall": [
116
+ {
117
+ "object_id": "SM_WallF",
118
+ "bbox_2d": [
119
+ 653,
120
+ 0,
121
+ 1919,
122
+ 1079
123
+ ],
124
+ "bbox_3d": {
125
+ "aabb": {
126
+ "center": [
127
+ 128.97000122070312,
128
+ 198.9349913597107,
129
+ 120
130
+ ],
131
+ "extent": [
132
+ 51.02964401245117,
133
+ 4.364752292633057,
134
+ 120
135
+ ]
136
+ },
137
+ "obb": {
138
+ "center": [
139
+ 128.97000122070312,
140
+ 198.9349913597107,
141
+ 120
142
+ ],
143
+ "extent": [
144
+ 51.02964401245117,
145
+ 4.364752292633057,
146
+ 120
147
+ ],
148
+ "rotation": [
149
+ 0,
150
+ 0,
151
+ 0
152
+ ]
153
+ },
154
+ "location": [
155
+ 128.97000122070312,
156
+ 198.93499755859375,
157
+ 0
158
+ ],
159
+ "rotation": [
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "scale": [
165
+ 1,
166
+ 1,
167
+ 1
168
+ ]
169
+ },
170
+ "color": [
171
+ 0,
172
+ 127,
173
+ 0
174
+ ]
175
+ },
176
+ {
177
+ "object_id": "SM_WallA",
178
+ "bbox_2d": [
179
+ 13,
180
+ 334,
181
+ 652,
182
+ 456
183
+ ],
184
+ "bbox_3d": {
185
+ "aabb": {
186
+ "center": [
187
+ -210,
188
+ -10,
189
+ 140.00003051757812
190
+ ],
191
+ "extent": [
192
+ 10,
193
+ 473.3000183105469,
194
+ 140.00003051757812
195
+ ]
196
+ },
197
+ "obb": {
198
+ "center": [
199
+ -210,
200
+ -10,
201
+ 140.00003051757812
202
+ ],
203
+ "extent": [
204
+ 10,
205
+ 473.3000183105469,
206
+ 140.00003051757812
207
+ ],
208
+ "rotation": [
209
+ 0,
210
+ 0,
211
+ 0
212
+ ]
213
+ },
214
+ "location": [
215
+ -210,
216
+ -10,
217
+ 0
218
+ ],
219
+ "rotation": [
220
+ 0,
221
+ 0,
222
+ 0
223
+ ],
224
+ "scale": [
225
+ 1,
226
+ 1,
227
+ 1
228
+ ]
229
+ },
230
+ "color": [
231
+ 127,
232
+ 127,
233
+ 127
234
+ ]
235
+ },
236
+ {
237
+ "object_id": "SM_WallD",
238
+ "bbox_2d": [
239
+ 0,
240
+ 372,
241
+ 12,
242
+ 1079
243
+ ],
244
+ "bbox_3d": {
245
+ "aabb": {
246
+ "center": [
247
+ -119,
248
+ 338.29998779296875,
249
+ 140.00003051757812
250
+ ],
251
+ "extent": [
252
+ 101,
253
+ 145,
254
+ 140.00003051757812
255
+ ]
256
+ },
257
+ "obb": {
258
+ "center": [
259
+ -119,
260
+ 338.29998779296875,
261
+ 140.00003051757812
262
+ ],
263
+ "extent": [
264
+ 101,
265
+ 145,
266
+ 140.00003051757812
267
+ ],
268
+ "rotation": [
269
+ 0,
270
+ 0,
271
+ 0
272
+ ]
273
+ },
274
+ "location": [
275
+ -119,
276
+ 338.29998779296875,
277
+ 0
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
+ 0,
293
+ 63
294
+ ]
295
+ }
296
+ ],
297
+ "partition": [
298
+ {
299
+ "object_id": "SM_PartitionA",
300
+ "bbox_2d": [
301
+ 281,
302
+ 226,
303
+ 637,
304
+ 1079
305
+ ],
306
+ "bbox_3d": {
307
+ "aabb": {
308
+ "center": [
309
+ 22.016599655151367,
310
+ 193.6980038881302,
311
+ 127.42579746246338
312
+ ],
313
+ "extent": [
314
+ 41.49184036254883,
315
+ 1.18369460105896,
316
+ 112.56279754638672
317
+ ]
318
+ },
319
+ "obb": {
320
+ "center": [
321
+ 22.016599655151367,
322
+ 193.6980038881302,
323
+ 127.42579746246338
324
+ ],
325
+ "extent": [
326
+ 41.49184036254883,
327
+ 1.18369460105896,
328
+ 112.56279754638672
329
+ ],
330
+ "rotation": [
331
+ 0,
332
+ 0,
333
+ 0
334
+ ]
335
+ },
336
+ "location": [
337
+ 22.016599655151367,
338
+ 193.697998046875,
339
+ 14.86299991607666
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
+ 0
356
+ ]
357
+ }
358
+ ],
359
+ "floor": [
360
+ {
361
+ "object_id": "SM_FloorB",
362
+ "bbox_2d": [
363
+ 638,
364
+ 976,
365
+ 639,
366
+ 1079
367
+ ],
368
+ "bbox_3d": {
369
+ "aabb": {
370
+ "center": [
371
+ 0,
372
+ -134.5,
373
+ -5
374
+ ],
375
+ "extent": [
376
+ 220,
377
+ 328.8000183105469,
378
+ 5
379
+ ]
380
+ },
381
+ "obb": {
382
+ "center": [
383
+ 0,
384
+ -134.5,
385
+ -5
386
+ ],
387
+ "extent": [
388
+ 220,
389
+ 328.8000183105469,
390
+ 5
391
+ ],
392
+ "rotation": [
393
+ 0,
394
+ 0,
395
+ 0
396
+ ]
397
+ },
398
+ "location": [
399
+ 0,
400
+ -134.5,
401
+ 0
402
+ ],
403
+ "rotation": [
404
+ 0,
405
+ 0,
406
+ 0
407
+ ],
408
+ "scale": [
409
+ 1,
410
+ 1,
411
+ 1
412
+ ]
413
+ },
414
+ "color": [
415
+ 255,
416
+ 255,
417
+ 63
418
+ ]
419
+ }
420
+ ]
421
+ },
422
+ "foreground": {
423
+ "drawer": [
424
+ {
425
+ "object_id": "SM_Drawer",
426
+ "bbox_2d": [
427
+ 13,
428
+ 824,
429
+ 639,
430
+ 1079
431
+ ],
432
+ "bbox_3d": {
433
+ "aabb": {
434
+ "center": [
435
+ -185.02699279785156,
436
+ -53.120384216308594,
437
+ 60.19429588317871
438
+ ],
439
+ "extent": [
440
+ 15,
441
+ 246.42047119140625,
442
+ 10
443
+ ]
444
+ },
445
+ "obb": {
446
+ "center": [
447
+ -185.02699279785156,
448
+ -53.120384216308594,
449
+ 60.19429588317871
450
+ ],
451
+ "extent": [
452
+ 15,
453
+ 246.42047119140625,
454
+ 10
455
+ ],
456
+ "rotation": [
457
+ 0,
458
+ 0,
459
+ 0
460
+ ]
461
+ },
462
+ "location": [
463
+ -200.02699279785156,
464
+ -53.120399475097656,
465
+ 50.19430160522461
466
+ ],
467
+ "rotation": [
468
+ 0,
469
+ 0,
470
+ 0
471
+ ],
472
+ "scale": [
473
+ 1,
474
+ 1,
475
+ 1
476
+ ]
477
+ },
478
+ "color": [
479
+ 255,
480
+ 127,
481
+ 127
482
+ ]
483
+ }
484
+ ],
485
+ "tv background wall": [
486
+ {
487
+ "object_id": "SM_TVBackgroundwall",
488
+ "bbox_2d": [
489
+ 13,
490
+ 395,
491
+ 652,
492
+ 1079
493
+ ],
494
+ "bbox_3d": {
495
+ "aabb": {
496
+ "center": [
497
+ -194.99996089935303,
498
+ -2.927030086517334,
499
+ 120.00000762939453
500
+ ],
501
+ "extent": [
502
+ 5.000057220458984,
503
+ 196.22706604003906,
504
+ 119.99999237060547
505
+ ]
506
+ },
507
+ "obb": {
508
+ "center": [
509
+ -194.99996089935303,
510
+ -2.927030086517334,
511
+ 120.00000762939453
512
+ ],
513
+ "extent": [
514
+ 5.000057220458984,
515
+ 196.22706604003906,
516
+ 119.99999237060547
517
+ ],
518
+ "rotation": [
519
+ 0,
520
+ 0,
521
+ 0
522
+ ]
523
+ },
524
+ "location": [
525
+ -200,
526
+ -2.927030086517334,
527
+ 0
528
+ ],
529
+ "rotation": [
530
+ 0,
531
+ 0,
532
+ 0
533
+ ],
534
+ "scale": [
535
+ 1,
536
+ 1,
537
+ 1
538
+ ]
539
+ },
540
+ "color": [
541
+ 127,
542
+ 255,
543
+ 0
544
+ ]
545
+ }
546
+ ],
547
+ "tv": [
548
+ {
549
+ "object_id": "SM_TV",
550
+ "bbox_2d": [
551
+ 638,
552
+ 608,
553
+ 639,
554
+ 808
555
+ ],
556
+ "bbox_3d": {
557
+ "aabb": {
558
+ "center": [
559
+ -191.59167134761813,
560
+ -58.649101053747344,
561
+ 122.68900299072266
562
+ ],
563
+ "extent": [
564
+ 1.164358076520415,
565
+ 93.73062917086345,
566
+ 46.75914001464844
567
+ ]
568
+ },
569
+ "obb": {
570
+ "center": [
571
+ -191.59167134761813,
572
+ -58.649101053747344,
573
+ 122.68900299072266
574
+ ],
575
+ "extent": [
576
+ 1.164358076520415,
577
+ 93.73062917086345,
578
+ 46.75914001464844
579
+ ],
580
+ "rotation": [
581
+ 0,
582
+ 1.0017900422099046e-05,
583
+ 0
584
+ ]
585
+ },
586
+ "location": [
587
+ -192.75599670410156,
588
+ -58.64910125732422,
589
+ 122.68900299072266
590
+ ],
591
+ "rotation": [
592
+ 0,
593
+ 1.0017900422099046e-05,
594
+ 0
595
+ ],
596
+ "scale": [
597
+ 1,
598
+ 1,
599
+ 1
600
+ ]
601
+ },
602
+ "color": [
603
+ 127,
604
+ 127,
605
+ 63
606
+ ]
607
+ }
608
+ ],
609
+ "mirror": [
610
+ {
611
+ "object_id": "SM_MirrorA",
612
+ "bbox_2d": [
613
+ 373,
614
+ 230,
615
+ 559,
616
+ 1079
617
+ ],
618
+ "bbox_3d": {
619
+ "aabb": {
620
+ "center": [
621
+ 37.09349822998047,
622
+ 199.33099222183228,
623
+ 159.95723724365234
624
+ ],
625
+ "extent": [
626
+ 19.08675765991211,
627
+ 2.701951503753662,
628
+ 80.14777374267578
629
+ ]
630
+ },
631
+ "obb": {
632
+ "center": [
633
+ 37.09349822998047,
634
+ 199.33099222183228,
635
+ 159.95723724365234
636
+ ],
637
+ "extent": [
638
+ 19.08675765991211,
639
+ 2.701951503753662,
640
+ 80.14777374267578
641
+ ],
642
+ "rotation": [
643
+ 0,
644
+ 0,
645
+ 0
646
+ ]
647
+ },
648
+ "location": [
649
+ 37.09349822998047,
650
+ 199.33099365234375,
651
+ 240.10499572753906
652
+ ],
653
+ "rotation": [
654
+ 0,
655
+ 0,
656
+ 0
657
+ ],
658
+ "scale": [
659
+ 1,
660
+ 1,
661
+ 1
662
+ ]
663
+ },
664
+ "color": [
665
+ 0,
666
+ 63,
667
+ 127
668
+ ]
669
+ },
670
+ {
671
+ "object_id": "SM_MirrorB",
672
+ "bbox_2d": [
673
+ 640,
674
+ 579,
675
+ 1294,
676
+ 1079
677
+ ],
678
+ "bbox_3d": {
679
+ "aabb": {
680
+ "center": [
681
+ 114.44399833679199,
682
+ 206.85928058624268,
683
+ 150.5089988708496
684
+ ],
685
+ "extent": [
686
+ 30.528072357177734,
687
+ 3.559281826019287,
688
+ 46.49998092651367
689
+ ]
690
+ },
691
+ "obb": {
692
+ "center": [
693
+ 114.44399833679199,
694
+ 206.85928058624268,
695
+ 150.5089988708496
696
+ ],
697
+ "extent": [
698
+ 30.528072357177734,
699
+ 3.559281826019287,
700
+ 46.49998092651367
701
+ ],
702
+ "rotation": [
703
+ 0,
704
+ 0,
705
+ 0
706
+ ]
707
+ },
708
+ "location": [
709
+ 114.44400024414062,
710
+ 203.3000030517578,
711
+ 150.50900268554688
712
+ ],
713
+ "rotation": [
714
+ 0,
715
+ 0,
716
+ 0
717
+ ],
718
+ "scale": [
719
+ 1,
720
+ 1,
721
+ 1
722
+ ]
723
+ },
724
+ "color": [
725
+ 255,
726
+ 63,
727
+ 63
728
+ ]
729
+ }
730
+ ],
731
+ "air conditioning": [
732
+ {
733
+ "object_id": "SM_AirConditioningB",
734
+ "bbox_2d": [
735
+ 0,
736
+ 272,
737
+ 193,
738
+ 352
739
+ ],
740
+ "bbox_3d": {
741
+ "aabb": {
742
+ "center": [
743
+ -82.22164916992188,
744
+ 213.48900699615479,
745
+ 239.6999982893467
746
+ ],
747
+ "extent": [
748
+ 56.89637756347656,
749
+ 8.791104316711426,
750
+ 0.30008044838905334
751
+ ]
752
+ },
753
+ "obb": {
754
+ "center": [
755
+ -82.22164916992188,
756
+ 213.48900699615479,
757
+ 239.6999982893467
758
+ ],
759
+ "extent": [
760
+ 56.89637756347656,
761
+ 8.791104316711426,
762
+ 0.30008044838905334
763
+ ],
764
+ "rotation": [
765
+ 0,
766
+ 0,
767
+ 0
768
+ ]
769
+ },
770
+ "location": [
771
+ -80.90760040283203,
772
+ 213.48899841308594,
773
+ 240
774
+ ],
775
+ "rotation": [
776
+ 0,
777
+ 0,
778
+ 0
779
+ ],
780
+ "scale": [
781
+ 1,
782
+ 1,
783
+ 1
784
+ ]
785
+ },
786
+ "color": [
787
+ 63,
788
+ 63,
789
+ 0
790
+ ]
791
+ }
792
+ ]
793
+ }
794
+ }