Silicon23's picture
Add visualization data: images, box-prompted and text-prompted predictions
504e166
{"image_id": 1011, "file_path": "images/coco_train/000000281601.jpg", "width": 640, "height": 480, "K": [[471.5052795410156, 0.0, 331.6534118652344], [0.0, 479.7480163574219, 247.7062530517578], [0.0, 0.0, 1.0]], "gt": [{"category": "place_mat", "bbox2D": [253.51, 302.74, 488.82, 407.52], "bbox3D_proj": [[263.4, 383.5], [481.0, 412.2], [480.3, 419.6], [264.4, 390.2], [306.3, 307.1], [477.5, 321.8], [477.0, 328.0], [306.8, 312.8]], "bbox3D_cam": [[-0.171, 0.335, 1.184], [0.333, 0.361, 1.052], [0.334, 0.38, 1.061], [-0.17, 0.354, 1.192], [-0.081, 0.186, 1.501], [0.424, 0.212, 1.369], [0.425, 0.231, 1.378], [-0.08, 0.205, 1.51]], "center_cam": [0.12677519532054804, 0.2828418701952209, 1.2808778067438196], "dimensions": [0.36230468750000056, 0.020996093750000198, 0.5219726562500003], "yaw": 0.25287954898982856}, {"category": "place_mat", "bbox2D": [0.69, 359.11, 168.48, 479.20000000000005], "bbox3D_proj": [[201.5, 412.2], [88.5, 383.9], [88.7, 386.9], [201.6, 415.2], [147.0, 475.9], [15.4, 437.7], [15.9, 441.1], [147.1, 479.5]], "bbox3D_cam": [[-0.3, 0.372, 1.086], [-0.594, 0.327, 1.152], [-0.595, 0.335, 1.155], [-0.3, 0.38, 1.088], [-0.351, 0.426, 0.896], [-0.646, 0.381, 0.963], [-0.646, 0.389, 0.965], [-0.351, 0.434, 0.898]], "center_cam": [-0.47290750763758993, 0.3805578547074462, 1.0252919499927329], "dimensions": [0.20384954866808572, 0.008185781243506132, 0.30562540486367124], "yaw": -2.886372027153834}, {"category": "glass_(drink_container)", "bbox2D": [487.6, 297.61, 552.3000000000001, 375.95000000000005], "bbox3D_proj": [[544.1, 292.1], [493.5, 284.7], [482.0, 363.3], [531.1, 372.5], [552.5, 302.7], [496.4, 294.3], [483.7, 380.5], [537.9, 391.1]], "bbox3D_cam": [[0.542, 0.111, 1.202], [0.423, 0.095, 1.233], [0.403, 0.305, 1.264], [0.521, 0.321, 1.232], [0.509, 0.125, 1.087], [0.391, 0.109, 1.119], [0.371, 0.318, 1.149], [0.489, 0.334, 1.117]], "center_cam": [0.4560818289609401, 0.21458790124789082, 1.1753921640984148], "dimensions": [0.11986198057836281, 0.2124862073187546, 0.12348346248408718], "yaw": -2.866837644056567}, {"category": "glass_(drink_container)", "bbox2D": [123.92, 301.03, 192.7, 398.67999999999995], "bbox3D_proj": [[165.4, 307.0], [204.6, 294.5], [198.5, 385.9], [160.1, 408.4], [122.5, 295.2], [164.5, 284.4], [159.9, 372.6], [118.9, 392.7]], "bbox3D_cam": [[-0.375, 0.132, 1.065], [-0.321, 0.116, 1.191], [-0.348, 0.355, 1.231], [-0.402, 0.37, 1.105], [-0.494, 0.11, 1.113], [-0.439, 0.095, 1.239], [-0.466, 0.333, 1.28], [-0.52, 0.349, 1.153]], "center_cam": [-0.4206944474874691, 0.23245872858927769, 1.1720899519667618], "dimensions": [0.12946433346279254, 0.24334811816869983, 0.13842699659223223], "yaw": -1.1648573167806517}, {"category": "tablecloth", "bbox2D": [28.2, 169.34, 226.82999999999998, 333.36], "bbox3D_proj": [[184.4, 150.5], [223.5, 162.1], [211.6, 315.4], [169.2, 375.8], [-39.8, 124.9], [75.9, 145.5], [69.5, 302.8], [-42.6, 359.1]], "bbox3D_cam": [[-0.725, -0.47, 2.321], [-0.795, -0.618, 3.466], [-0.918, 0.509, 3.604], [-0.847, 0.657, 2.459], [-1.767, -0.574, 2.243], [-1.838, -0.722, 3.389], [-1.961, 0.405, 3.527], [-1.89, 0.553, 2.381]], "center_cam": [-1.3426141252135575, -0.03262804308233689, 2.923764517279776], "dimensions": [1.050742533451677, 1.142112944552117, 1.157083813143072], "yaw": -1.632320702998939}], "prompt_categories": ["soupspoon", "can", "flowerpot", "sunglasses", "straw_(for_drinking)", "saucer", "place_mat", "glass_(drink_container)", "chopstick", "tablecloth"], "predictions": {"SAM3_3D": [{"category": "glass_(drink_container)", "score": 0.989, "bbox2D": [124.42549896240234, 299.2383728027344, 193.65806579589844, 398.01690673828125], "bbox3D_proj": [[147.9, 293.6], [112.0, 309.0], [114.1, 400.5], [149.0, 373.2], [205.7, 296.5], [178.6, 312.6], [179.3, 405.2], [205.8, 377.0]], "bbox3D_cam": [[-0.522, 0.128, 1.34], [-0.539, 0.148, 1.158], [-0.546, 0.377, 1.184], [-0.529, 0.357, 1.365], [-0.354, 0.135, 1.325], [-0.371, 0.155, 1.143], [-0.378, 0.384, 1.168], [-0.36, 0.364, 1.35]], "center_cam": [-0.44992369413375854, 0.25585415959358215, 1.2540562152862549], "dimensions": [0.16933436691761017, 0.23042599856853485, 0.18354688584804535], "yaw": 1.6644880319795612, "depth": 1.25}, {"category": "glass_(drink_container)", "score": 0.821, "bbox2D": [486.426025390625, 297.6684265136719, 552.1185302734375, 378.4476318359375], "bbox3D_proj": [[479.3, 291.2], [502.7, 307.2], [497.3, 384.3], [475.1, 359.2], [532.9, 291.8], [563.8, 307.8], [557.0, 384.6], [527.6, 359.5]], "bbox3D_cam": [[0.499, 0.144, 1.592], [0.505, 0.173, 1.392], [0.501, 0.406, 1.425], [0.494, 0.378, 1.625], [0.682, 0.147, 1.598], [0.688, 0.175, 1.398], [0.684, 0.408, 1.431], [0.678, 0.38, 1.631]], "center_cam": [0.5914159417152405, 0.2763524055480957, 1.5117243528366089], "dimensions": [0.18356573581695557, 0.23569592833518982, 0.20197665691375732], "yaw": 1.539839821336329, "depth": 1.51}, {"category": "place_mat", "score": 0.805, "bbox2D": [67.83772277832031, 171.31503295898438, 158.34823608398438, 187.47238159179688], "bbox3D_proj": [[80.4, 176.1], [94.3, 175.5], [94.4, 181.2], [80.6, 181.2], [132.3, 178.3], [150.7, 178.0], [150.8, 183.3], [132.4, 183.1]], "bbox3D_cam": [[-1.876, -0.525, 3.521], [-1.592, -0.476, 3.162], [-1.593, -0.439, 3.167], [-1.877, -0.488, 3.525], [-1.585, -0.542, 3.749], [-1.301, -0.493, 3.391], [-1.302, -0.456, 3.395], [-1.587, -0.505, 3.753]], "center_cam": [-1.5892421007156372, -0.49057453870773315, 3.457887887954712], "dimensions": [0.3700870871543884, 0.03713088855147362, 0.4602949321269989], "yaw": 0.9048135214317339, "depth": 3.46}, {"category": "place_mat", "score": 0.752, "bbox2D": [80.84119415283203, 182.58592224121094, 207.603515625, 205.7526397705078], "bbox3D_proj": [[88.3, 189.9], [159.4, 194.1], [159.5, 200.3], [88.5, 195.8], [136.6, 188.5], [201.9, 192.1], [202.0, 197.6], [136.8, 193.7]], "bbox3D_cam": [[-1.471, -0.343, 2.849], [-0.976, -0.299, 2.671], [-0.977, -0.264, 2.676], [-1.472, -0.309, 2.855], [-1.332, -0.398, 3.22], [-0.837, -0.353, 3.042], [-0.838, -0.318, 3.047], [-1.333, -0.363, 3.226]], "center_cam": [-1.1544889211654663, -0.3309444189071655, 2.948287010192871], "dimensions": [0.39986488223075867, 0.03480903059244156, 0.5279951095581055], "yaw": 0.35482336433696376, "depth": 2.95}, {"category": "tablecloth", "score": 0.714, "bbox2D": [29.928951263427734, 169.54672241210938, 225.92052841186523, 311.5223388671875], "bbox3D_proj": [[89.3, 168.7], [7.6, 172.1], [16.2, 309.4], [92.6, 265.0], [219.7, 175.2], [197.6, 181.2], [197.1, 311.6], [218.6, 268.1]], "bbox3D_cam": [[-1.591, -0.51, 3.096], [-1.468, -0.337, 2.136], [-1.502, 0.289, 2.245], [-1.625, 0.115, 3.205], [-0.762, -0.485, 3.207], [-0.639, -0.311, 2.247], [-0.672, 0.314, 2.356], [-0.795, 0.141, 3.315]], "center_cam": [-1.1317323446273804, -0.09799186140298843, 2.7258222103118896], "dimensions": [0.8373124599456787, 0.6355004906654358, 0.9829050302505493], "yaw": 1.4453381541889607, "depth": 2.73}, {"category": "glass_(drink_container)", "score": 0.664, "bbox2D": [129.6017608642578, 182.69032287597656, 154.49827575683594, 202.5142364501953], "bbox3D_proj": [[136.3, 184.4], [129.1, 184.5], [129.6, 201.2], [136.7, 200.3], [155.4, 184.8], [149.1, 185.0], [149.5, 201.7], [155.8, 200.7]], "bbox3D_cam": [[-1.28, -0.408, 3.088], [-1.267, -0.388, 2.949], [-1.27, -0.287, 2.963], [-1.282, -0.306, 3.102], [-1.159, -0.406, 3.099], [-1.146, -0.387, 2.96], [-1.149, -0.285, 2.974], [-1.161, -0.305, 3.113]], "center_cam": [-1.2142423391342163, -0.3465755879878998, 3.0310237407684326], "dimensions": [0.12158745527267456, 0.10235510021448135, 0.14031830430030823], "yaw": 1.4824044376846899, "depth": 3.03}, {"category": "tablecloth", "score": 0.645, "bbox2D": [50.24928665161133, 77.38372802734375, 82.93394470214844, 93.0858383178711], "bbox3D_proj": [[69.7, 81.9], [49.8, 76.9], [50.2, 90.2], [70.0, 94.4], [84.7, 82.3], [65.5, 77.3], [65.8, 90.6], [84.9, 94.9]], "bbox3D_cam": [[-6.152, -3.827, 11.072], [-6.291, -3.747, 10.526], [-6.309, -3.472, 10.571], [-6.17, -3.551, 11.117], [-5.749, -3.785, 10.976], [-5.888, -3.705, 10.43], [-5.906, -3.429, 10.474], [-5.767, -3.509, 11.021]], "center_cam": [-6.029087543487549, -3.6280972957611084, 10.773444175720215], "dimensions": [0.4166266620159149, 0.2794710695743561, 0.5696377754211426], "yaw": 1.8171082717820584, "depth": 10.77}, {"category": "tablecloth", "score": 0.637, "bbox2D": [93.49677276611328, 109.05728149414062, 209.85116577148438, 145.1715545654297], "bbox3D_proj": [[140.5, 115.7], [99.7, 100.7], [100.0, 137.4], [140.5, 145.8], [199.2, 119.1], [171.2, 104.8], [170.8, 141.4], [198.7, 149.1]], "bbox3D_cam": [[-3.486, -2.366, 8.6], [-3.477, -2.166, 7.068], [-3.506, -1.641, 7.136], [-3.514, -1.841, 8.668], [-2.419, -2.309, 8.613], [-2.41, -2.11, 7.082], [-2.439, -1.584, 7.15], [-2.448, -1.784, 8.682]], "center_cam": [-2.962364912033081, -1.9750750064849854, 7.874887943267822], "dimensions": [1.068204402923584, 0.5302256345748901, 1.5448198318481445], "yaw": 1.565193400796947, "depth": 7.87}, {"category": "tablecloth", "score": 0.633, "bbox2D": [40.42901611328125, 140.84527587890625, 219.94288635253906, 191.89193725585938], "bbox3D_proj": [[42.7, 136.5], [146.1, 135.3], [147.1, 191.3], [45.0, 185.2], [127.8, 145.1], [222.9, 145.1], [222.7, 190.9], [128.7, 185.9]], "bbox3D_cam": [[-2.765, -1.046, 4.513], [-1.541, -0.918, 3.917], [-1.557, -0.468, 3.98], [-2.782, -0.596, 4.575], [-2.329, -1.152, 5.387], [-1.105, -1.024, 4.791], [-1.121, -0.574, 4.854], [-2.345, -0.702, 5.449]], "center_cam": [-1.9432488679885864, -0.8101671934127808, 4.683133602142334], "dimensions": [0.9826063513755798, 0.45456409454345703, 1.3675053119659424], "yaw": 0.4603788166414022, "depth": 4.68}, {"category": "place_mat", "score": 0.592, "bbox2D": [135.85626220703125, 139.40391540527344, 162.23968505859375, 147.9200439453125], "bbox3D_proj": [[145.7, 142.2], [136.4, 141.8], [136.6, 145.8], [145.8, 146.0], [162.5, 142.8], [154.0, 142.4], [154.2, 146.4], [162.7, 146.6]], "bbox3D_cam": [[-2.167, -1.209, 5.495], [-2.174, -1.159, 5.251], [-2.176, -1.117, 5.259], [-2.169, -1.167, 5.503], [-1.969, -1.201, 5.49], [-1.976, -1.151, 5.247], [-1.978, -1.109, 5.255], [-1.971, -1.159, 5.499]], "center_cam": [-2.0725667476654053, -1.1590447425842285, 5.374959468841553], "dimensions": [0.19805946946144104, 0.042790159583091736, 0.24888280034065247], "yaw": 1.5997856163138613, "depth": 5.37}, {"category": "tablecloth", "score": 0.549, "bbox2D": [541.2526245117188, 113.13799285888672, 567.1732177734375, 129.31336975097656], "bbox3D_proj": [[541.4, 115.3], [547.9, 112.9], [546.1, 127.9], [539.7, 129.5], [560.2, 115.8], [567.7, 113.5], [565.8, 128.5], [558.4, 130.1]], "bbox3D_cam": [[5.409, -3.357, 12.161], [5.306, -3.25, 11.57], [5.291, -2.906, 11.634], [5.394, -3.012, 12.226], [5.86, -3.323, 12.089], [5.757, -3.217, 11.497], [5.742, -2.872, 11.562], [5.845, -2.979, 12.153]], "center_cam": [5.575416564941406, -3.1145646572113037, 11.861581802368164], "dimensions": [0.45773258805274963, 0.3509647250175476, 0.6098347306251526], "yaw": 1.7413466323558424, "depth": 11.86}, {"category": "place_mat", "score": 0.548, "bbox2D": [-23.771160125732422, 357.23272705078125, 184.43031692504883, 477.9457092285156], "bbox3D_proj": [[-44.6, 410.1], [93.4, 485.7], [95.0, 501.1], [-41.9, 423.8], [73.3, 353.3], [198.6, 403.2], [198.9, 416.0], [74.5, 364.8]], "bbox3D_cam": [[-0.849, 0.36, 1.064], [-0.449, 0.44, 0.888], [-0.451, 0.474, 0.898], [-0.851, 0.394, 1.074], [-0.723, 0.29, 1.318], [-0.322, 0.37, 1.142], [-0.325, 0.404, 1.153], [-0.725, 0.324, 1.329]], "center_cam": [-0.5866650342941284, 0.3822224736213684, 1.1082361936569214], "dimensions": [0.2928316295146942, 0.03577018529176712, 0.4444914162158966], "yaw": 0.44636528367433476, "depth": 1.11}, {"category": "place_mat", "score": 0.497, "bbox2D": [176.59767150878906, 167.6875762939453, 204.99020385742188, 177.3414764404297], "bbox3D_proj": [[185.9, 169.9], [178.1, 171.5], [178.2, 175.6], [186.0, 173.8], [204.2, 170.5], [197.3, 172.1], [197.4, 176.2], [204.3, 174.4]], "bbox3D_cam": [[-1.459, -0.765, 4.718], [-1.463, -0.714, 4.49], [-1.464, -0.676, 4.499], [-1.46, -0.728, 4.726], [-1.275, -0.759, 4.716], [-1.279, -0.707, 4.488], [-1.28, -0.67, 4.497], [-1.276, -0.722, 4.724]], "center_cam": [-1.3694671392440796, -0.7175930142402649, 4.607272624969482], "dimensions": [0.18373461067676544, 0.03834974020719528, 0.23341335356235504], "yaw": 1.58809252507118, "depth": 4.61}, {"category": "place_mat", "score": 0.456, "bbox2D": [267.026611328125, 304.0455017089844, 506.6645202636719, 406.435791015625], "bbox3D_proj": [[272.6, 354.6], [490.9, 395.6], [488.1, 414.8], [272.3, 372.0], [319.4, 301.3], [486.1, 326.7], [484.0, 341.6], [318.8, 315.1]], "bbox3D_cam": [[-0.155, 0.276, 1.238], [0.37, 0.338, 1.097], [0.368, 0.386, 1.11], [-0.157, 0.324, 1.25], [-0.042, 0.181, 1.617], [0.483, 0.243, 1.476], [0.481, 0.291, 1.489], [-0.044, 0.229, 1.63]], "center_cam": [0.16302375495433807, 0.2835318446159363, 1.3631380796432495], "dimensions": [0.40687426924705505, 0.05011187121272087, 0.5474648475646973], "yaw": 0.2816162049495801, "depth": 1.36}, {"category": "tablecloth", "score": 0.421, "bbox2D": [6.206035137176514, 80.33658599853516, 79.72208738327026, 97.81133270263672], "bbox3D_proj": [[61.9, 88.7], [7.9, 77.3], [8.3, 92.4], [62.1, 102.2], [78.8, 87.9], [25.1, 76.1], [25.6, 91.6], [79.0, 101.8]], "bbox3D_cam": [[-5.99, -3.47, 10.469], [-6.502, -3.363, 9.468], [-6.52, -3.078, 9.508], [-6.007, -3.186, 10.509], [-5.477, -3.403, 10.214], [-5.989, -3.295, 9.213], [-6.007, -3.011, 9.253], [-5.495, -3.119, 10.254]], "center_cam": [-5.998469352722168, -3.240865707397461, 9.86115550994873], "dimensions": [0.5765756368637085, 0.2874336242675781, 1.1294515132904053], "yaw": 2.0423951015801145, "depth": 9.86}, {"category": "tablecloth", "score": 0.42, "bbox2D": [2.4410462379455566, 85.57982635498047, 28.838175296783447, 99.00691986083984], "bbox3D_proj": [[18.5, 88.8], [1.0, 85.3], [1.6, 97.0], [19.1, 100.0], [31.7, 89.3], [14.6, 85.8], [15.2, 97.6], [32.2, 100.6]], "bbox3D_cam": [[-6.616, -3.299, 9.962], [-6.697, -3.232, 9.55], [-6.711, -3.012, 9.588], [-6.629, -3.079, 10.001], [-6.301, -3.27, 9.904], [-6.383, -3.203, 9.492], [-6.396, -2.983, 9.531], [-6.314, -3.05, 9.943]], "center_cam": [-6.505946636199951, -3.140813112258911, 9.746368408203125], "dimensions": [0.3213442862033844, 0.22379127144813538, 0.4254748225212097], "yaw": 1.7645984669479882, "depth": 9.75}, {"category": "place_mat", "score": 0.415, "bbox2D": [147.3957061767578, 137.57774353027344, 201.30148315429688, 146.935546875], "bbox3D_proj": [[160.1, 141.3], [157.5, 138.5], [157.5, 142.4], [160.1, 144.9], [191.4, 143.5], [191.3, 141.0], [191.2, 144.8], [191.3, 147.0]], "bbox3D_cam": [[-2.021, -1.232, 5.554], [-1.898, -1.17, 5.14], [-1.9, -1.129, 5.145], [-2.023, -1.191, 5.559], [-1.682, -1.228, 5.654], [-1.56, -1.166, 5.24], [-1.562, -1.125, 5.246], [-1.685, -1.188, 5.66]], "center_cam": [-1.791426658630371, -1.1785967350006104, 5.399682521820068], "dimensions": [0.3527752459049225, 0.040972135961055756, 0.4360838234424591], "yaw": 1.2863097147752591, "depth": 5.4}, {"category": "tablecloth", "score": 0.41, "bbox2D": [21.683467864990234, 190.30953979492188, 134.33195114135742, 315.9159240722656], "bbox3D_proj": [[61.7, 185.9], [8.6, 188.3], [13.4, 320.1], [64.0, 292.7], [141.7, 190.3], [108.9, 193.7], [109.8, 322.4], [141.5, 295.1]], "bbox3D_cam": [[-1.507, -0.339, 2.633], [-1.451, -0.262, 2.117], [-1.486, 0.332, 2.202], [-1.543, 0.255, 2.717], [-1.08, -0.321, 2.682], [-1.024, -0.244, 2.167], [-1.059, 0.35, 2.252], [-1.116, 0.273, 2.767]], "center_cam": [-1.2832534313201904, 0.005622154101729393, 2.4420478343963623], "dimensions": [0.4301149249076843, 0.6012428402900696, 0.5244219899177551], "yaw": 1.4622075315701846, "depth": 2.44}, {"category": "glass_(drink_container)", "score": 0.394, "bbox2D": [98.10913848876953, 163.91921997070312, 121.57526397705078, 179.6902618408203], "bbox3D_proj": [[105.0, 165.5], [98.7, 164.9], [99.2, 178.5], [105.5, 178.6], [121.9, 166.1], [116.3, 165.5], [116.7, 179.0], [122.3, 179.1]], "bbox3D_cam": [[-1.722, -0.614, 3.582], [-1.701, -0.594, 3.443], [-1.704, -0.498, 3.456], [-1.724, -0.518, 3.595], [-1.601, -0.613, 3.6], [-1.581, -0.593, 3.461], [-1.584, -0.497, 3.474], [-1.604, -0.517, 3.613]], "center_cam": [-1.652619481086731, -0.5555055737495422, 3.527787685394287], "dimensions": [0.12162615358829498, 0.0966118574142456, 0.14149579405784607], "yaw": 1.4246806342408678, "depth": 3.53}, {"category": "glass_(drink_container)", "score": 0.376, "bbox2D": [133.82540893554688, 119.45904541015625, 145.8994903564453, 139.19522094726562], "bbox3D_proj": [[137.2, 121.8], [134.2, 120.9], [135.0, 138.1], [138.0, 138.6], [145.8, 122.2], [143.1, 121.2], [143.9, 138.4], [146.5, 138.9]], "bbox3D_cam": [[-2.763, -1.758, 6.7], [-2.731, -1.725, 6.523], [-2.738, -1.499, 6.565], [-2.77, -1.533, 6.742], [-2.649, -1.759, 6.721], [-2.617, -1.725, 6.544], [-2.623, -1.5, 6.585], [-2.655, -1.533, 6.762]], "center_cam": [-2.693174123764038, -1.6289743185043335, 6.642906188964844], "dimensions": [0.11643039435148239, 0.2290520966053009, 0.18291278183460236], "yaw": 1.3947801588042847, "depth": 6.64}, {"category": "place_mat", "score": 0.364, "bbox2D": [175.41770935058594, 136.3377227783203, 204.672119140625, 144.23800659179688], "bbox3D_proj": [[185.4, 138.8], [178.2, 138.6], [178.3, 142.3], [185.5, 142.4], [202.6, 139.5], [196.2, 139.4], [196.2, 143.1], [202.7, 143.1]], "bbox3D_cam": [[-1.748, -1.279, 5.635], [-1.753, -1.225, 5.385], [-1.755, -1.185, 5.394], [-1.75, -1.239, 5.644], [-1.542, -1.27, 5.633], [-1.547, -1.216, 5.383], [-1.548, -1.175, 5.392], [-1.543, -1.23, 5.642]], "center_cam": [-1.6482027769088745, -1.227381706237793, 5.513473033905029], "dimensions": [0.20650078356266022, 0.041221097111701965, 0.2553817629814148], "yaw": 1.590833333527987, "depth": 5.51}, {"category": "tablecloth", "score": 0.355, "bbox2D": [470.0307312011719, 114.67728424072266, 492.6053771972656, 133.32974243164062], "bbox3D_proj": [[470.4, 117.3], [475.0, 115.8], [473.5, 131.5], [469.0, 132.3], [487.7, 117.8], [493.2, 116.3], [491.6, 132.1], [486.2, 132.9]], "bbox3D_cam": [[3.347, -3.091, 11.375], [3.29, -2.977, 10.824], [3.278, -2.639, 10.896], [3.335, -2.754, 11.446], [3.753, -3.069, 11.337], [3.695, -2.955, 10.787], [3.684, -2.617, 10.858], [3.741, -2.731, 11.409]], "center_cam": [3.5151376724243164, -2.8540544509887695, 11.116588592529297], "dimensions": [0.4081171751022339, 0.34560880064964294, 0.5654680728912354], "yaw": 1.6718944984730346, "depth": 11.12}, {"category": "glass_(drink_container)", "score": 0.352, "bbox2D": [154.63467407226562, 181.22511291503906, 184.6851043701172, 200.3157958984375], "bbox3D_proj": [[163.2, 182.9], [155.8, 182.7], [156.1, 199.0], [163.5, 198.4], [183.7, 183.4], [177.3, 183.3], [177.6, 199.6], [183.9, 198.9]], "bbox3D_cam": [[-1.069, -0.405, 2.994], [-1.062, -0.386, 2.848], [-1.065, -0.29, 2.86], [-1.072, -0.309, 3.006], [-0.941, -0.402, 3.0], [-0.934, -0.383, 2.854], [-0.937, -0.288, 2.866], [-0.944, -0.306, 3.012]], "center_cam": [-1.0029833316802979, -0.34612682461738586, 2.929957866668701], "dimensions": [0.12818774580955505, 0.09627731144428253, 0.147258460521698], "yaw": 1.5223056580832326, "depth": 2.93}, {"category": "place_mat", "score": 0.331, "bbox2D": [150.87677001953125, 188.5576629638672, 215.1182861328125, 204.56655883789062], "bbox3D_proj": [[171.7, 192.0], [157.8, 196.3], [157.9, 200.7], [171.8, 196.0], [207.6, 193.3], [197.2, 197.7], [197.3, 202.0], [207.7, 197.3]], "bbox3D_cam": [[-1.145, -0.392, 3.374], [-1.134, -0.33, 3.074], [-1.135, -0.302, 3.08], [-1.146, -0.364, 3.38], [-0.891, -0.384, 3.385], [-0.88, -0.322, 3.085], [-0.881, -0.294, 3.091], [-0.892, -0.357, 3.391]], "center_cam": [-1.0127685070037842, -0.34311559796333313, 3.2324063777923584], "dimensions": [0.2545374631881714, 0.028240296989679337, 0.306247740983963], "yaw": 1.5352907191708554, "depth": 3.23}, {"category": "place_mat", "score": 0.328, "bbox2D": [540.9794311523438, 327.5788269042969, 586.6747436523438, 379.01007080078125], "bbox3D_proj": [[544.3, 326.9], [547.4, 349.5], [544.0, 371.5], [541.3, 347.1], [579.8, 332.5], [586.9, 356.3], [582.8, 378.8], [576.2, 353.1]], "bbox3D_cam": [[0.717, 0.263, 1.59], [0.657, 0.305, 1.436], [0.655, 0.376, 1.455], [0.716, 0.334, 1.61], [0.818, 0.275, 1.554], [0.758, 0.317, 1.4], [0.756, 0.388, 1.419], [0.816, 0.346, 1.574]], "center_cam": [0.7366459369659424, 0.3252184987068176, 1.5048338174819946], "dimensions": [0.1075236052274704, 0.07385870814323425, 0.17124801874160767], "yaw": 1.9309325121774945, "depth": 1.5}, {"category": "tablecloth", "score": 0.321, "bbox2D": [245.67031860351562, 125.90445709228516, 275.11785888671875, 149.64503479003906], "bbox3D_proj": [[254.0, 129.7], [248.0, 128.6], [247.9, 146.5], [253.9, 146.5], [272.7, 130.4], [267.8, 129.4], [267.6, 147.3], [272.5, 147.3]], "bbox3D_cam": [[-1.665, -2.487, 10.109], [-1.693, -2.368, 9.538], [-1.706, -2.028, 9.609], [-1.678, -2.147, 10.181], [-1.262, -2.468, 10.094], [-1.29, -2.349, 9.522], [-1.303, -2.009, 9.593], [-1.275, -2.128, 10.165]], "center_cam": [-1.4839956760406494, -2.247697114944458, 9.851439476013184], "dimensions": [0.4037993550300598, 0.347628653049469, 0.5848053693771362], "yaw": 1.618686259339299, "depth": 9.85}, {"category": "tablecloth", "score": 0.312, "bbox2D": [514.8013916015625, 126.09312438964844, 559.4082641601562, 146.40480041503906], "bbox3D_proj": [[517.0, 129.6], [529.2, 127.2], [527.4, 143.0], [515.4, 144.3], [543.8, 130.8], [558.0, 128.5], [556.1, 144.3], [542.1, 145.5]], "bbox3D_cam": [[3.685, -2.308, 9.375], [3.658, -2.192, 8.73], [3.645, -1.916, 8.78], [3.673, -2.031, 9.425], [4.211, -2.281, 9.358], [4.183, -2.165, 8.713], [4.17, -1.889, 8.762], [4.198, -2.004, 9.408]], "center_cam": [3.927853584289551, -2.098346471786499, 9.068955421447754], "dimensions": [0.5261179804801941, 0.281303733587265, 0.6559173464775085], "yaw": 1.6132691470881462, "depth": 9.07}, {"category": "tablecloth", "score": 0.291, "bbox2D": [217.61962890625, 93.45221710205078, 241.0731201171875, 119.48299407958984], "bbox3D_proj": [[224.6, 97.7], [217.7, 95.2], [217.9, 116.5], [224.7, 118.0], [241.3, 98.4], [235.3, 95.9], [235.3, 117.2], [241.3, 118.6]], "bbox3D_cam": [[-2.371, -3.263, 10.439], [-2.395, -3.15, 9.908], [-2.413, -2.734, 9.998], [-2.388, -2.848, 10.528], [-1.998, -3.245, 10.426], [-2.023, -3.132, 9.895], [-2.04, -2.716, 9.985], [-2.016, -2.829, 10.515]], "center_cam": [-2.2055046558380127, -2.989725112915039, 10.211716651916504], "dimensions": [0.3734857738018036, 0.4257434904575348, 0.542907178401947], "yaw": 1.6157427535387126, "depth": 10.21}, {"category": "tablecloth", "score": 0.286, "bbox2D": [105.3395004272461, 108.91996002197266, 162.50091552734375, 136.45323181152344], "bbox3D_proj": [[134.3, 114.9], [107.8, 110.6], [108.4, 131.1], [134.7, 133.8], [160.0, 115.8], [135.3, 111.5], [135.7, 132.3], [160.2, 135.0]], "bbox3D_cam": [[-3.869, -2.558, 9.241], [-4.052, -2.44, 8.535], [-4.071, -2.09, 8.598], [-3.888, -2.209, 9.305], [-3.315, -2.504, 9.107], [-3.498, -2.385, 8.4], [-3.517, -2.035, 8.464], [-3.334, -2.154, 9.17]], "center_cam": [-3.692992687225342, -2.296713352203369, 8.852495193481445], "dimensions": [0.5723222494125366, 0.3558465242385864, 0.7396785616874695], "yaw": 1.8215950673755712, "depth": 8.85}, {"category": "tablecloth", "score": 0.284, "bbox2D": [376.6971130371094, 119.89600372314453, 423.3597106933594, 138.30294799804688], "bbox3D_proj": [[383.5, 123.2], [386.9, 119.0], [385.9, 135.0], [382.6, 137.9], [412.8, 124.6], [418.7, 120.6], [417.5, 136.6], [411.8, 139.4]], "bbox3D_cam": [[1.065, -2.51, 9.672], [1.045, -2.39, 8.911], [1.03, -2.104, 8.956], [1.05, -2.224, 9.717], [1.664, -2.478, 9.661], [1.644, -2.359, 8.9], [1.629, -2.073, 8.946], [1.649, -2.192, 9.707]], "center_cam": [1.3469520807266235, -2.2912473678588867, 9.308783531188965], "dimensions": [0.5999351739883423, 0.28994670510292053, 0.7705612778663635], "yaw": 1.5965867630807153, "depth": 9.31}, {"category": "tablecloth", "score": 0.257, "bbox2D": [462.1959533691406, 108.47834014892578, 493.37982177734375, 126.17239379882812], "bbox3D_proj": [[464.9, 111.4], [468.9, 108.6], [467.5, 124.2], [463.6, 126.1], [486.4, 112.1], [491.7, 109.3], [490.2, 124.9], [485.0, 126.8]], "bbox3D_cam": [[3.325, -3.342, 11.767], [3.235, -3.222, 11.115], [3.221, -2.879, 11.18], [3.311, -3.0, 11.832], [3.841, -3.308, 11.702], [3.752, -3.188, 11.05], [3.737, -2.845, 11.115], [3.827, -2.966, 11.767]], "center_cam": [3.531195640563965, -3.0936901569366455, 11.440910339355469], "dimensions": [0.5217161178588867, 0.34914928674697876, 0.6688678860664368], "yaw": 1.7055035460256587, "depth": 11.44}, {"category": "glass_(drink_container)", "score": 0.252, "bbox2D": [203.42083740234375, 164.2568359375, 216.8338165283203, 190.8961944580078], "bbox3D_proj": [[205.8, 166.9], [204.0, 167.4], [204.5, 189.2], [206.3, 188.0], [216.3, 167.2], [214.9, 167.7], [215.3, 189.4], [216.7, 188.2]], "bbox3D_cam": [[-1.155, -0.728, 4.327], [-1.132, -0.7, 4.184], [-1.138, -0.515, 4.22], [-1.16, -0.543, 4.363], [-1.062, -0.728, 4.341], [-1.04, -0.7, 4.199], [-1.045, -0.515, 4.235], [-1.067, -0.543, 4.377]], "center_cam": [-1.0998185873031616, -0.6215261816978455, 4.280799388885498], "dimensions": [0.09398960322141647, 0.1890021115541458, 0.14699818193912506], "yaw": 1.4200467718945364, "depth": 4.28}, {"category": "tablecloth", "score": 0.247, "bbox2D": [470.6072082519531, 121.4869613647461, 564.6815185546875, 154.76473999023438], "bbox3D_proj": [[484.6, 126.4], [504.4, 121.6], [501.5, 150.2], [482.3, 151.2], [528.9, 128.0], [555.7, 123.5], [552.2, 152.1], [526.2, 152.8]], "bbox3D_cam": [[3.31, -2.579, 10.204], [3.242, -2.325, 8.848], [3.223, -1.818, 8.944], [3.291, -2.073, 10.301], [4.253, -2.536, 10.165], [4.185, -2.281, 8.809], [4.165, -1.774, 8.905], [4.234, -2.029, 10.261]], "center_cam": [3.7379229068756104, -2.176964282989502, 9.55467414855957], "dimensions": [0.9445874691009521, 0.5163874626159668, 1.381788969039917], "yaw": 1.6203437965523506, "depth": 9.55}, {"category": "tablecloth", "score": 0.246, "bbox2D": [-30.031070709228516, 113.9953384399414, 44.1273307800293, 188.85552978515625], "bbox3D_proj": [[9.1, 116.6], [-47.0, 112.2], [-38.3, 187.2], [15.3, 182.6], [48.3, 118.3], [-3.4, 114.1], [4.1, 190.3], [53.4, 185.2]], "bbox3D_cam": [[-4.401, -1.759, 6.434], [-4.542, -1.597, 5.656], [-4.583, -0.737, 5.842], [-4.442, -0.899, 6.62], [-3.808, -1.709, 6.336], [-3.949, -1.548, 5.558], [-3.99, -0.688, 5.744], [-3.849, -0.849, 6.522]], "center_cam": [-4.195608615875244, -1.2232279777526855, 6.08907413482666], "dimensions": [0.6027010679244995, 0.8807682991027832, 0.8070563673973083], "yaw": 1.7470184900612566, "depth": 6.09}, {"category": "place_mat", "score": 0.241, "bbox2D": [585.3467407226562, 213.41766357421875, 614.2947998046875, 237.28123474121094], "bbox3D_proj": [[587.7, 214.0], [597.2, 216.9], [594.6, 236.4], [585.3, 232.6], [602.3, 214.6], [612.5, 217.6], [609.7, 237.2], [599.7, 233.4]], "bbox3D_cam": [[1.789, -0.232, 3.294], [1.766, -0.202, 3.136], [1.762, -0.074, 3.16], [1.785, -0.104, 3.319], [1.883, -0.226, 3.282], [1.86, -0.196, 3.123], [1.856, -0.069, 3.148], [1.879, -0.099, 3.306]], "center_cam": [1.8227760791778564, -0.15023240447044373, 3.221000909805298], "dimensions": [0.09513115882873535, 0.129770889878273, 0.16287130117416382], "yaw": 1.7121944378931055, "depth": 3.22}, {"category": "tablecloth", "score": 0.236, "bbox2D": [475.6720275878906, 129.6616973876953, 503.1769714355469, 148.41209411621094], "bbox3D_proj": [[477.6, 132.3], [483.3, 132.1], [481.8, 146.4], [476.2, 145.8], [495.2, 132.9], [501.9, 132.8], [500.2, 147.1], [493.7, 146.5]], "bbox3D_cam": [[2.809, -2.184, 9.077], [2.767, -2.074, 8.606], [2.758, -1.83, 8.663], [2.8, -1.94, 9.135], [3.139, -2.166, 9.052], [3.097, -2.056, 8.58], [3.088, -1.812, 8.638], [3.13, -1.922, 9.11]], "center_cam": [2.9488251209259033, -1.9976776838302612, 8.857781410217285], "dimensions": [0.3315085768699646, 0.2508392930030823, 0.48623716831207275], "yaw": 1.657223510048188, "depth": 8.86}, {"category": "tablecloth", "score": 0.233, "bbox2D": [464.0985412597656, 130.73675537109375, 527.55224609375, 181.8767852783203], "bbox3D_proj": [[468.3, 133.7], [482.8, 134.3], [478.0, 179.6], [464.4, 173.9], [508.2, 135.0], [527.9, 135.8], [522.1, 181.3], [503.5, 175.4]], "bbox3D_cam": [[2.438, -1.999, 8.41], [2.385, -1.76, 7.443], [2.362, -1.081, 7.612], [2.415, -1.32, 8.579], [3.138, -1.968, 8.379], [3.086, -1.728, 7.412], [3.063, -1.05, 7.582], [3.115, -1.289, 8.549]], "center_cam": [2.75032377243042, -1.5243524312973022, 7.995774745941162], "dimensions": [0.701734185218811, 0.7000584602355957, 0.9974137544631958], "yaw": 1.6235656517850705, "depth": 8.0}, {"category": "tablecloth", "score": 0.232, "bbox2D": [517.8494262695312, 150.8050994873047, 581.7734375, 190.0148468017578], "bbox3D_proj": [[516.7, 154.3], [536.3, 155.2], [532.5, 186.1], [513.7, 181.7], [561.3, 155.9], [586.7, 157.1], [582.3, 188.1], [557.7, 183.4]], "bbox3D_cam": [[2.63, -1.305, 6.7], [2.578, -1.145, 5.941], [2.565, -0.773, 6.021], [2.617, -0.933, 6.78], [3.246, -1.276, 6.664], [3.194, -1.116, 5.905], [3.181, -0.743, 5.985], [3.233, -0.903, 6.744]], "center_cam": [2.905636787414551, -1.0242904424667358, 6.342628479003906], "dimensions": [0.6177720427513123, 0.3810504078865051, 0.7775968313217163], "yaw": 1.6377852606847707, "depth": 6.34}, {"category": "place_mat", "score": 0.224, "bbox2D": [154.17713928222656, 293.0032958984375, 201.04905700683594, 324.42333984375], "bbox3D_proj": [[165.3, 293.7], [154.1, 308.4], [154.8, 321.7], [165.9, 306.0], [200.7, 293.9], [192.7, 308.5], [193.1, 321.7], [201.0, 306.1]], "bbox3D_cam": [[-0.538, 0.146, 1.525], [-0.527, 0.177, 1.399], [-0.528, 0.217, 1.408], [-0.54, 0.186, 1.535], [-0.427, 0.148, 1.535], [-0.415, 0.179, 1.409], [-0.417, 0.219, 1.419], [-0.428, 0.188, 1.545]], "center_cam": [-0.477406769990921, 0.1825360208749771, 1.4718303680419922], "dimensions": [0.11200138926506042, 0.04120514914393425, 0.13048075139522552], "yaw": 1.484251082017954, "depth": 1.47}, {"category": "tablecloth", "score": 0.219, "bbox2D": [56.97125244140625, 181.90359497070312, 205.11549377441406, 255.23509216308594], "bbox3D_proj": [[103.2, 182.3], [54.0, 186.5], [55.8, 249.1], [103.8, 231.0], [197.9, 187.8], [177.2, 193.4], [176.5, 253.9], [197.0, 235.2]], "bbox3D_cam": [[-1.473, -0.415, 3.04], [-1.384, -0.3, 2.35], [-1.403, 0.007, 2.399], [-1.493, -0.108, 3.088], [-0.885, -0.39, 3.12], [-0.796, -0.275, 2.431], [-0.816, 0.032, 2.479], [-0.905, -0.083, 3.168]], "center_cam": [-1.1442656517028809, -0.19141677021980286, 2.7593321800231934], "dimensions": [0.5939174890518188, 0.31136858463287354, 0.7043442726135254], "yaw": 1.4437127444428794, "depth": 2.76}, {"category": "tablecloth", "score": 0.217, "bbox2D": [68.02880096435547, 135.41363525390625, 214.79793548583984, 174.81454467773438], "bbox3D_proj": [[113.0, 138.0], [91.2, 128.1], [92.1, 169.7], [113.5, 171.2], [186.6, 142.8], [183.4, 134.5], [183.3, 174.1], [186.5, 174.7]], "bbox3D_cam": [[-2.723, -1.343, 5.871], [-2.395, -1.171, 4.697], [-2.413, -0.772, 4.75], [-2.741, -0.945, 5.924], [-1.879, -1.336, 6.107], [-1.551, -1.164, 4.933], [-1.569, -0.765, 4.986], [-1.897, -0.938, 6.161]], "center_cam": [-2.1460530757904053, -1.0542550086975098, 5.428687572479248], "dimensions": [0.8764143586158752, 0.4022076427936554, 1.2312541007995605], "yaw": 1.3011796292477797, "depth": 5.43}, {"category": "tablecloth", "score": 0.204, "bbox2D": [132.7220001220703, 97.88300323486328, 162.7032928466797, 111.61080169677734], "bbox3D_proj": [[146.9, 101.5], [135.3, 98.7], [135.5, 109.5], [147.1, 111.7], [160.9, 102.0], [149.9, 99.2], [150.1, 110.0], [161.1, 112.3]], "bbox3D_cam": [[-4.302, -3.347, 10.979], [-4.385, -3.269, 10.528], [-4.396, -3.045, 10.568], [-4.314, -3.123, 11.019], [-3.953, -3.318, 10.92], [-4.036, -3.24, 10.469], [-4.048, -3.016, 10.51], [-3.965, -3.094, 10.96]], "center_cam": [-4.174951553344727, -3.1814584732055664, 10.744084358215332], "dimensions": [0.35484781861305237, 0.22775661945343018, 0.4647018611431122], "yaw": 1.7496822793324804, "depth": 10.74}, {"category": "tablecloth", "score": 0.203, "bbox2D": [121.45755004882812, 109.09940338134766, 200.2134246826172, 131.19515991210938], "bbox3D_proj": [[167.9, 115.3], [122.0, 106.4], [122.2, 126.9], [167.8, 133.6], [198.6, 114.9], [154.6, 105.7], [154.7, 127.0], [198.4, 133.9]], "bbox3D_cam": [[-3.441, -2.735, 9.907], [-3.939, -2.609, 8.858], [-3.958, -2.243, 8.911], [-3.46, -2.369, 9.959], [-2.699, -2.647, 9.564], [-3.197, -2.522, 8.516], [-3.216, -2.156, 8.569], [-2.718, -2.281, 9.617]], "center_cam": [-3.328627824783325, -2.4451663494110107, 9.237659454345703], "dimensions": [0.822110116481781, 0.3700774610042572, 1.1673780679702759], "yaw": 2.0121575557423794, "depth": 9.24}, {"category": "tablecloth", "score": 0.198, "bbox2D": [465.71173095703125, 113.24839782714844, 488.14019775390625, 130.309814453125], "bbox3D_proj": [[466.2, 115.5], [470.2, 113.8], [468.8, 129.0], [465.0, 130.0], [483.6, 116.0], [488.4, 114.3], [487.0, 129.5], [482.2, 130.5]], "bbox3D_cam": [[3.243, -3.131, 11.366], [3.178, -3.019, 10.819], [3.167, -2.693, 10.887], [3.233, -2.805, 11.434], [3.648, -3.109, 11.322], [3.583, -2.997, 10.775], [3.572, -2.671, 10.843], [3.638, -2.783, 11.39]], "center_cam": [3.4077796936035156, -2.900873899459839, 11.104628562927246], "dimensions": [0.40787121653556824, 0.3331620693206787, 0.561869740486145], "yaw": 1.6871386118106697, "depth": 11.1}, {"category": "tablecloth", "score": 0.189, "bbox2D": [469.6898498535156, 134.73939514160156, 501.1629333496094, 165.3051300048828], "bbox3D_proj": [[472.6, 139.5], [478.7, 139.6], [476.5, 161.2], [470.6, 159.7], [492.6, 140.2], [500.0, 140.4], [497.6, 162.0], [490.4, 160.5]], "bbox3D_cam": [[2.712, -2.046, 9.071], [2.652, -1.915, 8.504], [2.638, -1.549, 8.589], [2.699, -1.68, 9.157], [3.084, -2.024, 9.036], [3.024, -1.894, 8.469], [3.01, -1.527, 8.555], [3.071, -1.658, 9.122]], "center_cam": [2.861201763153076, -1.786839246749878, 8.81285572052002], "dimensions": [0.37409964203834534, 0.3762689232826233, 0.5855399966239929], "yaw": 1.674669532771446, "depth": 8.81}, {"category": "glass_(drink_container)", "score": 0.18, "bbox2D": [176.8098907470703, 131.67938232421875, 194.76925659179688, 144.1102752685547], "bbox3D_proj": [[181.1, 134.0], [179.3, 133.0], [179.6, 142.8], [181.3, 143.5], [193.0, 134.4], [191.7, 133.5], [191.9, 143.2], [193.3, 143.9]], "bbox3D_cam": [[-1.693, -1.257, 5.302], [-1.665, -1.232, 5.153], [-1.667, -1.13, 5.17], [-1.696, -1.156, 5.319], [-1.566, -1.258, 5.327], [-1.537, -1.233, 5.178], [-1.54, -1.131, 5.194], [-1.568, -1.156, 5.343]], "center_cam": [-1.6165192127227783, -1.1940927505493164, 5.248279571533203], "dimensions": [0.12961621582508087, 0.10266057401895523, 0.15401732921600342], "yaw": 1.383799118225646, "depth": 5.25}, {"category": "tablecloth", "score": 0.174, "bbox2D": [200.7910614013672, 103.70254516601562, 222.63790893554688, 118.7784194946289], "bbox3D_proj": [[208.4, 107.4], [201.7, 105.3], [201.8, 116.3], [208.4, 117.9], [222.3, 108.0], [216.3, 105.9], [216.3, 116.9], [222.3, 118.5]], "bbox3D_cam": [[-3.002, -3.358, 11.481], [-3.032, -3.267, 11.006], [-3.043, -3.028, 11.052], [-3.013, -3.119, 11.528], [-2.659, -3.339, 11.463], [-2.689, -3.247, 10.987], [-2.7, -3.009, 11.034], [-2.67, -3.1, 11.51]], "center_cam": [-2.8510358333587646, -3.183382987976074, 11.257631301879883], "dimensions": [0.34446248412132263, 0.24346478283405304, 0.4851108491420746], "yaw": 1.6334054299935779, "depth": 11.26}, {"category": "place_mat", "score": 0.173, "bbox2D": [479.1816711425781, 119.82734680175781, 506.5030517578125, 128.76809692382812], "bbox3D_proj": [[482.4, 122.6], [485.7, 122.2], [485.2, 126.6], [482.0, 126.9], [499.1, 123.3], [503.0, 122.8], [502.5, 127.3], [498.6, 127.5]], "bbox3D_cam": [[3.364, -2.743, 10.521], [3.3, -2.643, 10.102], [3.296, -2.556, 10.124], [3.36, -2.656, 10.542], [3.718, -2.717, 10.473], [3.654, -2.617, 10.054], [3.65, -2.529, 10.076], [3.715, -2.629, 10.494]], "center_cam": [3.507167339324951, -2.636155366897583, 10.298177719116211], "dimensions": [0.35835134983062744, 0.08996063470840454, 0.434861958026886], "yaw": 1.7193897686860151, "depth": 10.3}, {"category": "tablecloth", "score": 0.171, "bbox2D": [548.1258544921875, 117.19731903076172, 575.6963500976562, 134.6148681640625], "bbox3D_proj": [[550.1, 120.1], [557.0, 118.3], [555.2, 132.6], [548.4, 133.7], [566.8, 120.5], [574.6, 118.8], [572.7, 133.2], [565.1, 134.3]], "bbox3D_cam": [[5.967, -3.427, 12.879], [5.878, -3.317, 12.297], [5.864, -2.966, 12.366], [5.953, -3.076, 12.947], [6.393, -3.398, 12.819], [6.304, -3.288, 12.237], [6.291, -2.937, 12.306], [6.38, -3.047, 12.887]], "center_cam": [6.128644943237305, -3.1820807456970215, 12.592142105102539], "dimensions": [0.4318486452102661, 0.35768020153045654, 0.5983964204788208], "yaw": 1.7202548228238757, "depth": 12.59}, {"category": "place_mat", "score": 0.168, "bbox2D": [480.5936279296875, 122.29034423828125, 504.6178283691406, 130.58775329589844], "bbox3D_proj": [[482.7, 125.1], [486.0, 124.5], [485.6, 128.5], [482.3, 128.8], [498.3, 125.6], [502.2, 125.1], [501.8, 129.1], [497.8, 129.4]], "bbox3D_cam": [[3.291, -2.626, 10.273], [3.236, -2.538, 9.884], [3.233, -2.461, 9.902], [3.287, -2.55, 10.291], [3.616, -2.604, 10.232], [3.561, -2.515, 9.843], [3.558, -2.438, 9.861], [3.613, -2.527, 10.25]], "center_cam": [3.424203634262085, -2.5323076248168945, 10.06701946258545], "dimensions": [0.32868388295173645, 0.07879267632961273, 0.4025372564792633], "yaw": 1.7077577715959653, "depth": 10.07}], "GDino3D": [{"category": "tablecloth", "score": 0.149, "bbox2D": [5.8642168045043945, 171.81451416015625, 322.71178150177, 424.9070129394531], "bbox3D_proj": [[313.4, 188.3], [144.1, 170.5], [154.0, 300.8], [309.0, 331.3], [222.7, 231.7], [-5.4, 199.6], [25.2, 376.3], [228.2, 432.3]], "bbox3D_cam": [[-0.087, -0.279, 2.254], [-1.005, -0.407, 2.526], [-1.037, 0.304, 2.752], [-0.119, 0.432, 2.479], [-0.345, -0.05, 1.494], [-1.263, -0.177, 1.766], [-1.294, 0.534, 1.992], [-0.377, 0.661, 1.719]], "center_cam": [-0.6909164786338806, 0.12734819948673248, 2.12270188331604], "dimensions": [0.8349269032478333, 0.7467023134231567, 0.9653636813163757], "yaw": -2.827461301951251, "depth": 2.12}, {"category": "tablecloth", "score": 0.117, "bbox2D": [50.006839752197266, 134.77786254882812, 221.44783401489258, 259.13720703125], "bbox3D_proj": [[131.2, 136.7], [45.1, 141.7], [56.6, 243.6], [136.5, 218.9], [225.1, 143.6], [159.1, 150.8], [164.4, 259.0], [226.2, 229.8]], "bbox3D_cam": [[-1.817, -0.989, 4.273], [-2.063, -0.75, 3.394], [-2.1, -0.031, 3.6], [-1.854, -0.269, 4.479], [-0.915, -0.879, 4.051], [-1.161, -0.641, 3.172], [-1.198, 0.079, 3.377], [-0.952, -0.159, 4.257]], "center_cam": [-1.5074642896652222, -0.45474934577941895, 3.8254473209381104], "dimensions": [0.9351097941398621, 0.7494616508483887, 0.9435179233551025], "yaw": 1.8346442697270797, "depth": 3.83}, {"category": "tablecloth", "score": 0.059, "bbox2D": [8.755757331848145, 146.70700073242188, 175.63690662384033, 359.293212890625], "bbox3D_proj": [[11.0, 155.6], [65.9, 167.0], [88.2, 361.0], [36.8, 331.0], [107.5, 150.1], [163.7, 159.0], [172.9, 325.0], [121.0, 302.2]], "bbox3D_cam": [[-1.57, -0.443, 2.308], [-1.153, -0.344, 2.046], [-1.196, 0.547, 2.316], [-1.612, 0.448, 2.578], [-1.29, -0.552, 2.712], [-0.873, -0.453, 2.45], [-0.915, 0.438, 2.72], [-1.332, 0.339, 2.982]], "center_cam": [-1.2425733804702759, -0.0025892043486237526, 2.5140135288238525], "dimensions": [0.5035433173179626, 0.9316641688346863, 0.5020399689674377], "yaw": 0.5908755926434827, "depth": 2.51}, {"category": "tablecloth", "score": 0.055, "bbox2D": [472.9623718261719, 141.10438537597656, 578.3899536132812, 225.70782470703125], "bbox3D_proj": [[494.4, 148.5], [584.8, 153.9], [569.3, 227.3], [483.2, 221.5], [475.8, 140.5], [553.1, 145.1], [541.0, 208.8], [466.9, 203.9]], "bbox3D_cam": [[1.718, -1.029, 4.976], [2.649, -0.964, 4.932], [2.608, -0.22, 5.176], [1.677, -0.285, 5.219], [1.775, -1.297, 5.804], [2.706, -1.232, 5.761], [2.665, -0.487, 6.004], [1.734, -0.552, 6.047]], "center_cam": [2.1915981769561768, -0.7582898139953613, 5.489954471588135], "dimensions": [0.8722504377365112, 0.7842832803726196, 0.9342071413993835], "yaw": 0.06574567772141686, "depth": 5.49}]}}