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Add visualization data: images, box-prompted and text-prompted predictions
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{"image_id": 1009, "file_path": "images/coco_train/000000280850.jpg", "width": 640, "height": 430, "K": [[415.97882080078125, 0.0, 325.77557373046875], [0.0, 420.3443298339844, 215.24996948242188], [0.0, 0.0, 1.0]], "gt": [{"category": "pillow", "bbox2D": [314.83, 147.38, 360.01, 199.0], "bbox3D_proj": [[309.9, 145.3], [350.7, 142.0], [363.4, 186.5], [323.0, 193.1], [302.4, 150.8], [342.6, 147.2], [354.8, 190.6], [315.0, 197.3]], "bbox3D_cam": [[-0.169, -0.737, 4.425], [0.285, -0.828, 4.75], [0.425, -0.321, 4.697], [-0.029, -0.23, 4.372], [-0.256, -0.699, 4.558], [0.198, -0.79, 4.882], [0.337, -0.283, 4.829], [-0.117, -0.192, 4.504]], "center_cam": [0.08410998127644803, -0.5099377481688188, 4.627153081268165], "dimensions": [0.1631114581507912, 0.5284572391540849, 0.565682176888317], "yaw": -0.5873983366011241}, {"category": "pillow", "bbox2D": [186.63, 173.46, 244.81, 209.84], "bbox3D_proj": [[269.2, 166.6], [226.3, 161.4], [228.5, 191.0], [270.8, 198.9], [223.9, 174.2], [181.2, 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