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Add visualization data: images, box-prompted and text-prompted predictions
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{"image_id": 1005, "file_path": "images/coco_train/000000277998.jpg", "width": 640, "height": 480, "K": [[463.7017822265625, 0.0, 330.3104248046875], [0.0, 469.3284912109375, 241.0051727294922], [0.0, 0.0, 1.0]], "gt": [{"category": "bread", "bbox2D": [314.94, 207.25, 469.85, 369.97], "bbox3D_proj": [[435.5, 397.0], [495.4, 244.9], [493.4, 259.9], [435.2, 410.6], [318.4, 351.2], [397.9, 222.4], [398.7, 236.7], [322.1, 364.8]], "bbox3D_cam": [[0.231, 0.338, 1.017], [0.472, 0.011, 1.327], [0.481, 0.055, 1.367], [0.239, 0.382, 1.057], [-0.029, 0.269, 1.148], [0.212, -0.058, 1.457], [0.221, -0.014, 1.497], [-0.021, 0.313, 1.187]], "center_cam": [0.22568020290084476, 0.16216134989128914, 1.2571885119796504], "dimensions": [0.29906195991837303, 0.059834956078063994, 0.5112382788616677], "yaw": -1.0728527936030756}, {"category": "cucumber", "bbox2D": [271.65, 289.97, 329.27, 340.13], "bbox3D_proj": [[265.6, 281.7], [292.7, 346.1], [288.6, 355.6], [262.7, 292.6], [307.3, 271.6], [336.4, 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