Silicon23's picture
Add visualization data: images, box-prompted and text-prompted predictions
504e166
{"image_id": 1016, "file_path": "images/coco_train/000000285562.jpg", "width": 640, "height": 510, "K": [[611.1600952148438, 0.0, 324.52337646484375], [0.0, 675.0513305664062, 260.61639404296875], [0.0, 0.0, 1.0]], "gt": [{"category": "cake", "bbox2D": [263.23, 120.36, 346.82000000000005, 214.51], "bbox3D_proj": [[354.8, 108.5], [348.0, 186.3], [331.6, 228.7], [337.7, 146.0], [280.7, 95.7], [279.3, 173.0], [256.4, 213.3], [255.8, 131.0]], "bbox3D_cam": [[0.062, -0.28, 1.242], [0.052, -0.148, 1.34], [0.014, -0.057, 1.215], [0.024, -0.19, 1.117], [-0.091, -0.309, 1.266], [-0.101, -0.177, 1.364], [-0.138, -0.087, 1.239], [-0.128, -0.219, 1.141]], "center_cam": [-0.038357323300111726, -0.18336337801263314, 1.2406048270621284], "dimensions": [0.15710449218750097, 0.15869140625000114, 0.1650390625000013], "yaw": -1.6331584858200252}, {"category": "cake", "bbox2D": [345.7, 111.78, 485.5, 229.51], "bbox3D_proj": [[346.6, 100.6], [487.9, 101.1], [479.9, 248.9], [341.9, 241.2], [352.5, 105.4], [486.7, 106.2], [479.2, 246.3], [347.9, 239.2]], "bbox3D_cam": [[0.044, -0.287, 1.209], [0.307, -0.272, 1.15], [0.299, -0.02, 1.174], [0.035, -0.035, 1.234], [0.058, -0.292, 1.272], [0.322, -0.277, 1.212], [0.313, -0.026, 1.237], [0.05, -0.041, 1.297]], "center_cam": [0.17839358333497246, -0.15642908047981188, 1.223236258827796], "dimensions": [0.06474915454401489, 0.25261002206287564, 0.270624186568375], "yaw": 0.2263629316916294}, {"category": "spoon", "bbox2D": [262.61, 272.65, 415.73, 303.84], "bbox3D_proj": [[270.0, 292.2], [430.2, 289.1], [425.9, 310.4], [268.6, 314.6], [265.7, 269.1], [418.0, 267.4], [414.2, 288.0], [264.4, 290.8]], "bbox3D_cam": [[-0.095, 0.05, 1.066], [0.195, 0.048, 1.13], [0.191, 0.085, 1.151], [-0.099, 0.087, 1.087], [-0.108, 0.014, 1.126], [0.182, 0.012, 1.189], [0.178, 0.049, 1.211], [-0.113, 0.051, 1.147]], "center_cam": [0.04127627253046596, 0.04949817874877096, 1.138439640131995], "dimensions": [0.0708007812500003, 0.04296875000000012, 0.2973632812500001], "yaw": -0.19056991083851962}, {"category": "cupcake", "bbox2D": [266.79, 121.14, 347.03000000000003, 214.45], "bbox3D_proj": [[327.9, 112.2], [258.1, 122.1], [260.0, 206.0], [325.6, 192.7], [365.6, 136.8], [290.5, 149.2], [290.5, 239.7], [360.6, 223.3]], "bbox3D_cam": [[0.007, -0.292, 1.328], [-0.137, -0.259, 1.26], [-0.142, -0.109, 1.344], [0.002, -0.142, 1.412], [0.081, -0.221, 1.206], [-0.063, -0.188, 1.138], [-0.068, -0.038, 1.222], [0.076, -0.071, 1.29]], "center_cam": [-0.03044435985938913, -0.1649938603033367, 1.2752847680354034], "dimensions": [0.15912233355012362, 0.17190668312136873, 0.16293545909580875], "yaw": 2.659682086914567}], "prompt_categories": ["cake", "apple", "spoon", "cupcake", "lollipop"], "predictions": {"SAM3_3D": [{"category": "cake", "score": 1.049, "bbox2D": [349.4935302734375, 113.60713958740234, 484.7236328125, 231.53988647460938], "bbox3D_proj": [[353.2, 128.1], [480.0, 143.9], [466.0, 241.7], [348.4, 223.0], [368.1, 107.5], [483.2, 120.9], [470.2, 211.3], [362.7, 195.3]], "bbox3D_cam": [[0.081, -0.341, 1.736], [0.422, -0.287, 1.659], [0.413, -0.05, 1.787], [0.073, -0.104, 1.863], [0.136, -0.434, 1.914], [0.477, -0.38, 1.837], [0.468, -0.144, 1.964], [0.128, -0.197, 2.041]], "center_cam": [0.2749279737472534, -0.24216733872890472, 1.8503326177597046], "dimensions": [0.20826908946037292, 0.2689257264137268, 0.35342395305633545], "yaw": 0.26684726168519274, "depth": 1.85}, {"category": "cake", "score": 0.986, "bbox2D": [266.37408447265625, 117.85445404052734, 349.0870056152344, 216.01205444335938], "bbox3D_proj": [[271.0, 117.6], [286.9, 142.6], [283.0, 218.9], [268.2, 187.2], [329.2, 118.5], [351.5, 142.9], [344.4, 217.1], [323.9, 186.4]], "bbox3D_cam": [[-0.162, -0.393, 1.856], [-0.102, -0.289, 1.654], [-0.119, -0.108, 1.743], [-0.179, -0.211, 1.944], [0.015, -0.401, 1.905], [0.075, -0.297, 1.704], [0.058, -0.115, 1.792], [-0.002, -0.219, 1.994]], "center_cam": [-0.05196664109826088, -0.25431719422340393, 1.8239809274673462], "dimensions": [0.1838507354259491, 0.20295186340808868, 0.23438793420791626], "yaw": 1.308811986766202, "depth": 1.82}, {"category": "cupcake", "score": 0.918, "bbox2D": [312.61956787109375, 105.4032974243164, 362.7579650878906, 167.10935974121094], "bbox3D_proj": [[313.7, 105.9], [317.9, 127.2], [317.0, 166.2], [313.0, 142.8], [357.6, 105.9], [365.2, 127.0], [362.7, 165.8], [355.5, 142.5]], "bbox3D_cam": [[-0.038, -0.489, 2.135], [-0.021, -0.391, 1.98], [-0.025, -0.286, 2.046], [-0.042, -0.384, 2.201], [0.116, -0.493, 2.15], [0.133, -0.395, 1.994], [0.129, -0.289, 2.06], [0.112, -0.388, 2.216]], "center_cam": [0.04550843685865402, -0.389423668384552, 2.0978808403015137], "dimensions": [0.1547175645828247, 0.12436237186193466, 0.18449066579341888], "yaw": 1.4811079057269008, "depth": 2.1}, {"category": "cupcake", "score": 0.913, "bbox2D": [131.54286193847656, 269.4271545410156, 181.46156311035156, 310.12554931640625], "bbox3D_proj": [[165.0, 263.3], [127.5, 278.0], [129.9, 297.9], [166.7, 282.6], [185.5, 278.5], [147.5, 294.4], [149.7, 314.8], [187.0, 298.2]], "bbox3D_cam": [[-0.429, 0.007, 1.642], [-0.507, 0.041, 1.573], [-0.509, 0.088, 1.598], [-0.43, 0.054, 1.667], [-0.36, 0.042, 1.581], [-0.438, 0.076, 1.512], [-0.44, 0.123, 1.537], [-0.361, 0.09, 1.606]], "center_cam": [-0.4342573285102844, 0.06503218412399292, 1.5896319150924683], "dimensions": [0.09861735254526138, 0.054074905812740326, 0.10985063761472702], "yaw": 2.366001449698652, "depth": 1.59}, {"category": "cupcake", "score": 0.849, "bbox2D": [184.94754028320312, 274.7338562011719, 237.94920349121094, 311.4179992675781], "bbox3D_proj": [[221.3, 268.7], [184.8, 279.7], [186.0, 298.9], [222.0, 287.4], [239.3, 284.0], [201.8, 296.0], [202.8, 315.9], [239.7, 303.3]], "bbox3D_cam": [[-0.277, 0.02, 1.64], [-0.361, 0.045, 1.581], [-0.363, 0.091, 1.603], [-0.279, 0.066, 1.662], [-0.219, 0.054, 1.572], [-0.304, 0.079, 1.513], [-0.306, 0.126, 1.535], [-0.221, 0.101, 1.594]], "center_cam": [-0.291329562664032, 0.07270130515098572, 1.587589979171753], "dimensions": [0.09545911848545074, 0.05131205543875694, 0.10616271197795868], "yaw": 2.491691417305126, "depth": 1.59}, {"category": "cupcake", "score": 0.846, "bbox2D": [182.03846740722656, 291.2337341308594, 234.82383728027344, 342.238525390625], "bbox3D_proj": [[219.0, 285.8], [177.3, 300.9], [179.0, 324.6], [219.8, 308.8], [240.5, 305.6], [197.8, 322.4], [199.1, 346.7], [240.9, 329.3]], "bbox3D_cam": [[-0.271, 0.059, 1.567], [-0.361, 0.09, 1.501], [-0.365, 0.145, 1.531], [-0.274, 0.114, 1.597], [-0.206, 0.1, 1.497], [-0.297, 0.131, 1.431], [-0.3, 0.186, 1.461], [-0.209, 0.155, 1.528]], "center_cam": [-0.2851986885070801, 0.12243714183568954, 1.514095425605774], "dimensions": [0.10345729440450668, 0.06320653855800629, 0.11669865995645523], "yaw": 2.4657875179951096, "depth": 1.51}, {"category": "cupcake", "score": 0.845, "bbox2D": [266.0433654785156, 116.70622253417969, 349.0298156738281, 216.184326171875], "bbox3D_proj": [[270.9, 116.3], [284.4, 145.9], [280.8, 219.4], [268.4, 184.0], [331.7, 116.8], [351.7, 145.6], [344.5, 217.2], [326.2, 182.9]], "bbox3D_cam": [[-0.169, -0.412, 1.926], [-0.113, -0.293, 1.726], [-0.131, -0.112, 1.829], [-0.186, -0.23, 2.029], [0.023, -0.421, 1.974], [0.079, -0.302, 1.775], [0.061, -0.121, 1.877], [0.006, -0.239, 2.077]], "center_cam": [-0.053739141672849655, -0.2661975920200348, 1.9017062187194824], "dimensions": [0.1983669251203537, 0.20941652357578278, 0.23875829577445984], "yaw": 1.3347931647832318, "depth": 1.9}, {"category": "cupcake", "score": 0.805, "bbox2D": [133.6251220703125, 297.3565979003906, 183.3879852294922, 337.9739074707031], "bbox3D_proj": [[174.2, 290.6], [132.3, 302.1], [135.1, 320.0], [176.2, 308.2], [185.1, 312.4], [141.6, 325.1], [144.3, 343.3], [187.0, 330.3]], "bbox3D_cam": [[-0.397, 0.072, 1.614], [-0.494, 0.097, 1.569], [-0.495, 0.14, 1.597], [-0.398, 0.116, 1.641], [-0.352, 0.118, 1.542], [-0.448, 0.143, 1.497], [-0.45, 0.187, 1.525], [-0.353, 0.162, 1.569]], "center_cam": [-0.42331773042678833, 0.12928487360477448, 1.569321632385254], "dimensions": [0.09696020931005478, 0.05173066630959511, 0.10924068838357925], "yaw": 2.654608858833762, "depth": 1.57}, {"category": "cake", "score": 0.796, "bbox2D": [168.3588104248047, 247.44923400878906, 216.23341369628906, 287.0489501953125], "bbox3D_proj": [[199.6, 243.2], [165.9, 255.5], [167.5, 275.2], [200.6, 262.4], [219.2, 256.4], [185.1, 269.7], [186.5, 289.9], [220.0, 276.0]], "bbox3D_cam": [[-0.335, -0.042, 1.637], [-0.408, -0.012, 1.573], [-0.41, 0.035, 1.597], [-0.337, 0.004, 1.661], [-0.272, -0.01, 1.58], [-0.346, 0.02, 1.516], [-0.348, 0.067, 1.54], [-0.274, 0.037, 1.605]], "center_cam": [-0.34130147099494934, 0.01230709720402956, 1.5885553359985352], "dimensions": [0.09004801511764526, 0.052520930767059326, 0.10215482115745544], "yaw": 2.37626914438128, "depth": 1.59}, {"category": "cake", "score": 0.742, "bbox2D": [180.79347229003906, 291.9795227050781, 233.7965087890625, 342.3704833984375], "bbox3D_proj": [[224.0, 287.0], [178.1, 298.4], [180.1, 319.8], [225.0, 308.0], [237.8, 311.1], [189.8, 323.9], [191.7, 345.9], [238.6, 332.7]], "bbox3D_cam": [[-0.249, 0.059, 1.511], [-0.351, 0.082, 1.465], [-0.353, 0.131, 1.495], [-0.251, 0.108, 1.541], [-0.204, 0.107, 1.434], [-0.306, 0.13, 1.388], [-0.308, 0.179, 1.418], [-0.206, 0.156, 1.464]], "center_cam": [-0.2783728241920471, 0.11917242407798767, 1.4644935131072998], "dimensions": [0.10130064189434052, 0.0572446845471859, 0.11448939889669418], "yaw": 2.6807772793364024, "depth": 1.46}, {"category": "cake", "score": 0.734, "bbox2D": [313.6603088378906, 105.27555084228516, 364.21356201171875, 166.75628662109375], "bbox3D_proj": [[316.3, 106.1], [320.4, 122.2], [319.2, 165.1], [315.3, 146.4], [358.2, 106.5], [365.4, 122.6], [362.9, 165.1], [356.0, 146.6]], "bbox3D_cam": [[-0.028, -0.476, 2.079], [-0.013, -0.396, 1.93], [-0.017, -0.282, 1.991], [-0.032, -0.362, 2.14], [0.115, -0.478, 2.093], [0.13, -0.397, 1.943], [0.126, -0.283, 2.004], [0.111, -0.364, 2.153]], "center_cam": [0.04895348474383354, -0.3796989917755127, 2.041625738143921], "dimensions": [0.14370062947273254, 0.12920425832271576, 0.17036844789981842], "yaw": 1.4832215099065698, "depth": 2.04}, {"category": "cake", "score": 0.724, "bbox2D": [131.26300048828125, 269.8130187988281, 180.7865447998047, 308.9028625488281], "bbox3D_proj": [[171.3, 264.5], [130.8, 273.9], [133.2, 291.7], [172.9, 281.9], [181.6, 283.7], [139.5, 294.2], [141.8, 312.5], [183.2, 301.7]], "bbox3D_cam": [[-0.4, 0.009, 1.594], [-0.491, 0.031, 1.55], [-0.493, 0.072, 1.575], [-0.401, 0.051, 1.618], [-0.356, 0.052, 1.523], [-0.448, 0.074, 1.48], [-0.45, 0.116, 1.504], [-0.358, 0.094, 1.547]], "center_cam": [-0.42463719844818115, 0.06233983114361763, 1.5489015579223633], "dimensions": [0.0936141088604927, 0.048637498170137405, 0.10367300361394882], "yaw": 2.658689965352816, "depth": 1.55}, {"category": "cake", "score": 0.711, "bbox2D": [134.24192810058594, 298.90521240234375, 183.5707550048828, 337.9447021484375], "bbox3D_proj": [[177.2, 292.6], [134.0, 301.9], [136.5, 317.8], [179.0, 308.3], [184.7, 316.1], [139.4, 326.4], [141.9, 342.8], [186.4, 332.2]], "bbox3D_cam": [[-0.378, 0.074, 1.567], [-0.477, 0.094, 1.531], [-0.479, 0.132, 1.555], [-0.379, 0.112, 1.591], [-0.342, 0.123, 1.493], [-0.441, 0.142, 1.457], [-0.443, 0.18, 1.481], [-0.343, 0.161, 1.517]], "center_cam": [-0.4100487232208252, 0.1271955519914627, 1.5239288806915283], "dimensions": [0.09547428041696548, 0.04541449621319771, 0.10766685009002686], "yaw": 2.7544816332512814, "depth": 1.52}, {"category": "cake", "score": 0.658, "bbox2D": [184.6468505859375, 274.7330017089844, 237.95346069335938, 310.5921936035156], "bbox3D_proj": [[226.4, 269.1], [186.9, 277.3], [188.3, 294.5], [227.2, 286.0], [237.1, 287.6], [196.0, 296.7], [197.3, 314.4], [237.8, 305.0]], "bbox3D_cam": [[-0.254, 0.02, 1.58], [-0.347, 0.038, 1.541], [-0.348, 0.078, 1.563], [-0.255, 0.06, 1.602], [-0.216, 0.06, 1.509], [-0.309, 0.079, 1.47], [-0.31, 0.119, 1.492], [-0.217, 0.101, 1.531]], "center_cam": [-0.2820288836956024, 0.06937796622514725, 1.5358558893203735], "dimensions": [0.09029976278543472, 0.04596283659338951, 0.1027863621711731], "yaw": 2.7081692628815404, "depth": 1.54}, {"category": "cupcake", "score": 0.626, "bbox2D": [168.186767578125, 247.6259307861328, 216.84405517578125, 286.40631103515625], "bbox3D_proj": [[199.5, 241.9], [165.4, 255.3], [167.4, 275.5], [200.8, 261.6], [219.9, 255.7], [185.4, 270.2], [187.1, 290.9], [221.0, 275.9]], "bbox3D_cam": [[-0.347, -0.047, 1.695], [-0.424, -0.013, 1.628], [-0.426, 0.037, 1.655], [-0.349, 0.002, 1.722], [-0.28, -0.012, 1.636], [-0.357, 0.022, 1.569], [-0.359, 0.072, 1.596], [-0.282, 0.038, 1.663]], "center_cam": [-0.35276246070861816, 0.012369947507977486, 1.6453853845596313], "dimensions": [0.09573794156312943, 0.056431084871292114, 0.10759887099266052], "yaw": 2.369962807118625, "depth": 1.65}, {"category": "cake", "score": 0.445, "bbox2D": [276.0180969238281, 204.7169647216797, 400.524169921875, 276.5340270996094], "bbox3D_proj": [[277.1, 220.9], [389.1, 235.2], [385.3, 285.5], [276.9, 269.9], [295.9, 197.6], [397.7, 209.8], [394.0, 256.1], [295.2, 242.8]], "bbox3D_cam": [[-0.122, -0.093, 1.578], [0.161, -0.057, 1.522], [0.156, 0.058, 1.572], [-0.127, 0.022, 1.628], [-0.081, -0.162, 1.74], [0.202, -0.127, 1.684], [0.197, -0.012, 1.735], [-0.086, -0.047, 1.791]], "center_cam": [0.037465110421180725, -0.05221153795719147, 1.6563332080841064], "dimensions": [0.18131722509860992, 0.12585118412971497, 0.2908730208873749], "yaw": 0.22761170161450672, "depth": 1.66}, {"category": "cupcake", "score": 0.39, "bbox2D": [347.373291015625, 113.11279296875, 484.3550109863281, 233.02423095703125], "bbox3D_proj": [[349.0, 123.4], [456.3, 150.9], [442.2, 243.2], [341.8, 208.7], [389.7, 111.7], [490.1, 135.4], [475.6, 219.7], [381.2, 190.1]], "bbox3D_cam": [[0.075, -0.381, 1.876], [0.366, -0.275, 1.695], [0.347, -0.046, 1.799], [0.056, -0.152, 1.98], [0.22, -0.456, 2.066], [0.511, -0.35, 1.886], [0.492, -0.121, 1.99], [0.201, -0.227, 2.17]], "center_cam": [0.28340280055999756, -0.25102731585502625, 1.9327579736709595], "dimensions": [0.25063952803611755, 0.25233322381973267, 0.357945054769516], "yaw": 0.6198491178806708, "depth": 1.93}, {"category": "cake", "score": 0.363, "bbox2D": [124.99427032470703, 258.4368896484375, 238.8569793701172, 354.2850036621094], "bbox3D_proj": [[206.0, 249.8], [120.3, 273.3], [119.7, 336.3], [202.6, 306.4], [249.2, 273.4], [163.8, 301.9], [161.4, 368.0], [244.1, 332.5]], "bbox3D_cam": [[-0.325, -0.027, 1.675], [-0.494, 0.028, 1.477], [-0.515, 0.172, 1.535], [-0.346, 0.118, 1.733], [-0.195, 0.03, 1.58], [-0.363, 0.084, 1.382], [-0.384, 0.229, 1.44], [-0.216, 0.174, 1.638]], "center_cam": [-0.3546629250049591, 0.10102636367082596, 1.5576019287109375], "dimensions": [0.17105098068714142, 0.15694868564605713, 0.26575225591659546], "yaw": 2.265847242214942, "depth": 1.56}, {"category": "cupcake", "score": 0.262, "bbox2D": [127.61859130859375, 263.2467041015625, 239.7732391357422, 347.37841796875], "bbox3D_proj": [[214.9, 259.7], [123.2, 274.6], [120.1, 322.2], [210.0, 302.5], [250.9, 284.9], [157.4, 304.2], [153.1, 354.5], [244.8, 329.8]], "bbox3D_cam": [[-0.308, -0.002, 1.714], [-0.501, 0.031, 1.522], [-0.523, 0.143, 1.563], [-0.329, 0.109, 1.755], [-0.194, 0.058, 1.611], [-0.388, 0.092, 1.418], [-0.409, 0.203, 1.459], [-0.216, 0.169, 1.652]], "center_cam": [-0.35838115215301514, 0.10030223429203033, 1.5866843461990356], "dimensions": [0.16507601737976074, 0.1205289363861084, 0.2750946581363678], "yaw": 2.3681180018118364, "depth": 1.59}, {"category": "cake", "score": 0.24, "bbox2D": [277.7790222167969, 123.36062622070312, 340.6485900878906, 176.3863983154297], "bbox3D_proj": [[289.6, 126.7], [290.1, 141.1], [289.8, 171.9], [289.3, 155.8], [328.1, 127.5], [331.4, 141.8], [330.3, 172.5], [327.1, 156.4]], "bbox3D_cam": [[-0.106, -0.368, 1.857], [-0.097, -0.306, 1.729], [-0.1, -0.232, 1.765], [-0.109, -0.294, 1.893], [0.011, -0.368, 1.866], [0.02, -0.306, 1.737], [0.017, -0.231, 1.773], [0.008, -0.294, 1.902]], "center_cam": [-0.04468659684062004, -0.29994288086891174, 1.815382480621338], "dimensions": [0.11734295636415482, 0.0826210230588913, 0.1428041160106659], "yaw": 1.5096005371070662, "depth": 1.82}, {"category": "cupcake", "score": 0.221, "bbox2D": [272.8567199707031, 206.8996124267578, 401.1815490722656, 274.71966552734375], "bbox3D_proj": [[275.7, 211.7], [374.7, 233.5], [369.8, 282.6], [273.0, 257.6], [309.2, 202.3], [401.4, 221.3], [396.5, 266.1], [306.2, 244.3]], "bbox3D_cam": [[-0.135, -0.122, 1.688], [0.128, -0.063, 1.559], [0.118, 0.052, 1.591], [-0.145, -0.008, 1.721], [-0.046, -0.16, 1.851], [0.217, -0.1, 1.721], [0.206, 0.014, 1.753], [-0.057, -0.045, 1.883]], "center_cam": [0.03572184592485428, -0.054037585854530334, 1.7209278345108032], "dimensions": [0.1887374073266983, 0.11932560801506042, 0.2992430329322815], "yaw": 0.4901751403782023, "depth": 1.72}, {"category": "cupcake", "score": 0.211, "bbox2D": [275.7145690917969, 121.64614868164062, 340.5097351074219, 176.36390686035156], "bbox3D_proj": [[290.6, 124.7], [285.2, 138.5], [284.6, 170.3], [290.0, 154.5], [331.2, 127.4], [328.8, 141.5], [327.3, 173.3], [329.7, 157.2]], "bbox3D_cam": [[-0.107, -0.387, 1.923], [-0.115, -0.323, 1.785], [-0.119, -0.244, 1.823], [-0.111, -0.308, 1.96], [0.021, -0.379, 1.919], [0.013, -0.314, 1.782], [0.008, -0.235, 1.819], [0.017, -0.3, 1.956]], "center_cam": [-0.04915839061141014, -0.31129372119903564, 1.8709203004837036], "dimensions": [0.12787941098213196, 0.08743883669376373, 0.15198242664337158], "yaw": 1.6255495825158583, "depth": 1.87}, {"category": "cake", "score": 0.167, "bbox2D": [289.8759460449219, 155.9357452392578, 311.47857666015625, 186.40380859375], "bbox3D_proj": [[295.0, 157.8], [295.4, 166.9], [295.3, 183.3], [294.8, 173.9], [306.7, 157.8], [307.6, 166.9], [307.2, 183.4], [306.4, 174.0]], "bbox3D_cam": [[-0.085, -0.267, 1.754], [-0.081, -0.237, 1.708], [-0.083, -0.198, 1.733], [-0.086, -0.228, 1.779], [-0.051, -0.268, 1.757], [-0.047, -0.237, 1.71], [-0.049, -0.199, 1.735], [-0.053, -0.229, 1.782]], "center_cam": [-0.0669739618897438, -0.23294441401958466, 1.7447218894958496], "dimensions": [0.033844415098428726, 0.04621535912156105, 0.055435072630643845], "yaw": 1.5054934152708355, "depth": 1.74}, {"category": "cake", "score": 0.147, "bbox2D": [283.0986328125, 142.32908630371094, 317.2918701171875, 178.8195343017578], "bbox3D_proj": [[289.8, 145.1], [291.3, 157.4], [291.2, 175.2], [289.6, 162.4], [309.7, 145.1], [312.0, 157.3], [311.6, 175.0], [309.3, 162.3]], "bbox3D_cam": [[-0.1, -0.3, 1.756], [-0.092, -0.258, 1.689], [-0.094, -0.217, 1.714], [-0.102, -0.259, 1.782], [-0.043, -0.302, 1.762], [-0.035, -0.259, 1.695], [-0.036, -0.218, 1.72], [-0.045, -0.26, 1.788]], "center_cam": [-0.06814553588628769, -0.2592537999153137, 1.7382687330245972], "dimensions": [0.05746843293309212, 0.04855956882238388, 0.08003003895282745], "yaw": 1.4695481780750963, "depth": 1.74}, {"category": "cake", "score": 0.144, "bbox2D": [285.6039123535156, 147.39784240722656, 320.3576354980469, 188.98583984375], "bbox3D_proj": [[292.4, 151.5], [294.2, 165.0], [294.0, 183.9], [292.3, 169.9], [312.4, 151.3], [314.9, 164.7], [314.4, 183.6], [311.9, 169.6]], "bbox3D_cam": [[-0.092, -0.281, 1.741], [-0.083, -0.237, 1.673], [-0.085, -0.193, 1.701], [-0.093, -0.238, 1.769], [-0.035, -0.283, 1.747], [-0.026, -0.238, 1.679], [-0.028, -0.195, 1.707], [-0.037, -0.239, 1.775]], "center_cam": [-0.05983568727970123, -0.2381097823381424, 1.7241681814193726], "dimensions": [0.057167600840330124, 0.05191610008478165, 0.081706203520298], "yaw": 1.4678535700321924, "depth": 1.72}, {"category": "cake", "score": 0.14, "bbox2D": [308.6225280761719, 158.01792907714844, 323.88323974609375, 186.07786560058594], "bbox3D_proj": [[311.2, 159.6], [311.9, 167.7], [311.6, 183.2], [311.0, 174.9], [321.5, 159.6], [322.4, 167.7], [322.0, 183.2], [321.1, 174.9]], "bbox3D_cam": [[-0.038, -0.26, 1.734], [-0.035, -0.233, 1.694], [-0.036, -0.197, 1.718], [-0.039, -0.223, 1.758], [-0.009, -0.26, 1.736], [-0.006, -0.233, 1.696], [-0.007, -0.197, 1.719], [-0.01, -0.223, 1.76]], "center_cam": [-0.022429414093494415, -0.22831474244594574, 1.7268106937408447], "dimensions": [0.02923506125807762, 0.04335875064134598, 0.048268742859363556], "yaw": 1.515491287535464, "depth": 1.73}, {"category": "cake", "score": 0.13, "bbox2D": [226.24798583984375, 309.3384704589844, 373.6022644042969, 415.7962951660156], "bbox3D_proj": [[351.3, 301.6], [221.2, 324.4], [222.5, 351.8], [349.0, 328.0], [384.2, 363.9], [239.3, 394.2], [240.3, 422.8], [380.6, 391.5]], "bbox3D_cam": [[0.065, 0.09, 1.486], [-0.236, 0.132, 1.395], [-0.24, 0.194, 1.437], [0.061, 0.152, 1.527], [0.129, 0.202, 1.324], [-0.172, 0.244, 1.233], [-0.176, 0.306, 1.275], [0.125, 0.265, 1.365]], "center_cam": [-0.05532785505056381, 0.1982503980398178, 1.380244255065918], "dimensions": [0.20717936754226685, 0.07498215138912201, 0.3170701861381531], "yaw": 2.82676365039928, "depth": 1.38}, {"category": "cake", "score": 0.123, "bbox2D": [83.37533569335938, 103.1879653930664, 501.7742614746094, 435.85987091064453], "bbox3D_proj": [[271.6, 161.9], [149.5, 231.2], [152.3, 333.3], [267.9, 238.8], [413.1, 191.0], [342.6, 280.9], [332.0, 389.7], [402.2, 271.8]], "bbox3D_cam": [[-0.166, -0.28, 1.917], [-0.389, -0.059, 1.357], [-0.409, 0.156, 1.45], [-0.186, -0.065, 2.01], [0.259, -0.184, 1.786], [0.036, 0.037, 1.226], [0.016, 0.252, 1.319], [0.239, 0.031, 1.879]], "center_cam": [-0.0749642476439476, -0.01405002735555172, 1.618302583694458], "dimensions": [0.4549892544746399, 0.23544146120548248, 0.6418349146842957], "yaw": 1.9263446382757285, "depth": 1.62}, {"category": "cupcake", "score": 0.115, "bbox2D": [122.94496154785156, 212.27783203125, 307.9667663574219, 352.8260192871094], "bbox3D_proj": [[233.0, 218.0], [143.8, 246.5], [137.8, 313.9], [224.6, 276.4], [294.2, 249.2], [210.9, 285.7], [201.4, 355.5], [282.9, 309.6]], "bbox3D_cam": [[-0.262, -0.111, 1.753], [-0.438, -0.031, 1.482], [-0.474, 0.122, 1.55], [-0.298, 0.043, 1.821], [-0.082, -0.028, 1.66], [-0.258, 0.052, 1.389], [-0.294, 0.205, 1.457], [-0.118, 0.125, 1.728]], "center_cam": [-0.2780267596244812, 0.04716067761182785, 1.6050472259521484], "dimensions": [0.21872512996196747, 0.17133140563964844, 0.3324245810508728], "yaw": 2.142015651823294, "depth": 1.61}, {"category": "cake", "score": 0.105, "bbox2D": [323.073486328125, 151.62362670898438, 338.0867614746094, 180.6589813232422], "bbox3D_proj": [[325.6, 153.8], [326.5, 161.7], [326.1, 177.4], [325.2, 169.2], [335.5, 153.8], [336.7, 161.7], [336.2, 177.4], [335.0, 169.2]], "bbox3D_cam": [[0.003, -0.267, 1.686], [0.005, -0.241, 1.647], [0.004, -0.206, 1.67], [0.002, -0.231, 1.709], [0.03, -0.267, 1.687], [0.033, -0.242, 1.648], [0.032, -0.206, 1.672], [0.029, -0.232, 1.71]], "center_cam": [0.017415136098861694, -0.23647616803646088, 1.6786118745803833], "dimensions": [0.027545347809791565, 0.04238884523510933, 0.04651166871190071], "yaw": 1.51719752077347, "depth": 1.68}, {"category": "cake", "score": 0.102, "bbox2D": [137.877685546875, 103.73182678222656, 500.6540832519531, 309.66680908203125], "bbox3D_proj": [[273.8, 127.4], [223.9, 170.4], [218.7, 268.3], [268.1, 200.9], [399.8, 146.6], [398.2, 197.9], [383.7, 296.4], [389.1, 220.4]], "bbox3D_cam": [[-0.159, -0.379, 1.921], [-0.229, -0.186, 1.388], [-0.253, 0.017, 1.464], [-0.184, -0.177, 1.998], [0.233, -0.32, 1.892], [0.164, -0.126, 1.358], [0.139, 0.076, 1.435], [0.208, -0.117, 1.968]], "center_cam": [-0.010237234644591808, -0.1514219045639038, 1.6780059337615967], "dimensions": [0.3979925215244293, 0.21770690381526947, 0.5713396072387695], "yaw": 1.6929381683057183, "depth": 1.68}, {"category": "cake", "score": 0.093, "bbox2D": [313.184814453125, 152.79393005371094, 330.29241943359375, 183.57754516601562], "bbox3D_proj": [[316.4, 155.3], [317.5, 164.3], [317.1, 179.9], [316.1, 170.7], [326.9, 155.2], [328.2, 164.2], [327.7, 179.8], [326.4, 170.6]], "bbox3D_cam": [[-0.023, -0.273, 1.747], [-0.02, -0.243, 1.705], [-0.021, -0.207, 1.73], [-0.024, -0.236, 1.772], [0.007, -0.273, 1.749], [0.01, -0.244, 1.707], [0.009, -0.207, 1.732], [0.005, -0.237, 1.774]], "center_cam": [-0.007161752786487341, -0.23992878198623657, 1.7395007610321045], "dimensions": [0.02994539588689804, 0.04437647759914398, 0.0511343851685524], "yaw": 1.5024952986324935, "depth": 1.74}, {"category": "cake", "score": 0.089, "bbox2D": [186.72857666015625, 294.45849609375, 392.7793884277344, 478.1903991699219], "bbox3D_proj": [[324.7, 288.0], [173.1, 335.2], [173.6, 390.7], [319.1, 337.4], [408.9, 361.2], [245.8, 432.7], [242.4, 492.8], [398.6, 414.7]], "bbox3D_cam": [[0.001, 0.065, 1.599], [-0.337, 0.151, 1.361], [-0.353, 0.275, 1.428], [-0.015, 0.189, 1.666], [0.191, 0.206, 1.38], [-0.147, 0.291, 1.142], [-0.162, 0.416, 1.209], [0.175, 0.33, 1.447]], "center_cam": [-0.08096347004175186, 0.24035121500492096, 1.404178261756897], "dimensions": [0.3225075900554657, 0.14213530719280243, 0.4219318926334381], "yaw": 2.506705759398452, "depth": 1.4}, {"category": "cake", "score": 0.088, "bbox2D": [296.0788269042969, 157.38682556152344, 315.0011291503906, 186.78314208984375], "bbox3D_proj": [[300.2, 159.4], [300.9, 167.6], [300.9, 183.7], [300.2, 175.2], [311.0, 159.3], [311.9, 167.5], [311.8, 183.5], [310.8, 175.0]], "bbox3D_cam": [[-0.07, -0.263, 1.755], [-0.066, -0.236, 1.713], [-0.067, -0.198, 1.737], [-0.071, -0.225, 1.78], [-0.039, -0.264, 1.758], [-0.035, -0.237, 1.715], [-0.036, -0.199, 1.739], [-0.04, -0.226, 1.782]], "center_cam": [-0.053098201751708984, -0.23088741302490234, 1.747274398803711], "dimensions": [0.03104645200073719, 0.04499714821577072, 0.050901781767606735], "yaw": 1.4990937128688404, "depth": 1.75}, {"category": "cake", "score": 0.087, "bbox2D": [300.4936218261719, 159.11831665039062, 318.8301696777344, 187.7003631591797], "bbox3D_proj": [[304.3, 160.7], [305.0, 169.0], [304.9, 185.0], [304.2, 176.5], [315.1, 160.7], [316.1, 168.9], [315.9, 184.9], [314.9, 176.4]], "bbox3D_cam": [[-0.058, -0.258, 1.742], [-0.054, -0.231, 1.699], [-0.055, -0.193, 1.723], [-0.059, -0.22, 1.766], [-0.027, -0.258, 1.744], [-0.023, -0.231, 1.702], [-0.024, -0.193, 1.725], [-0.028, -0.22, 1.768]], "center_cam": [-0.041049715131521225, -0.22562065720558167, 1.7337299585342407], "dimensions": [0.030875425785779953, 0.04468744248151779, 0.05059913173317909], "yaw": 1.5047581147091516, "depth": 1.73}, {"category": "cake", "score": 0.086, "bbox2D": [151.33712768554688, 274.0181579589844, 238.9580535888672, 346.99853515625], "bbox3D_proj": [[220.8, 266.8], [146.9, 283.3], [148.4, 325.9], [220.2, 307.0], [247.3, 291.1], [170.1, 310.7], [171.1, 355.5], [246.0, 333.2]], "bbox3D_cam": [[-0.279, 0.015, 1.643], [-0.444, 0.051, 1.529], [-0.453, 0.152, 1.574], [-0.288, 0.116, 1.688], [-0.194, 0.069, 1.539], [-0.36, 0.106, 1.424], [-0.369, 0.207, 1.469], [-0.204, 0.17, 1.584]], "center_cam": [-0.3239396810531616, 0.11083619296550751, 1.5562416315078735], "dimensions": [0.14504650235176086, 0.11087614297866821, 0.2044215351343155], "yaw": 2.5168133815553735, "depth": 1.56}, {"category": "cake", "score": 0.085, "bbox2D": [264.1075439453125, 147.82228088378906, 281.3161315917969, 175.4250946044922], "bbox3D_proj": [[267.8, 149.9], [267.8, 158.2], [268.2, 172.3], [268.2, 163.8], [278.0, 149.8], [278.2, 158.1], [278.4, 172.1], [278.2, 163.6]], "bbox3D_cam": [[-0.169, -0.299, 1.824], [-0.165, -0.27, 1.781], [-0.166, -0.236, 1.804], [-0.17, -0.265, 1.847], [-0.139, -0.3, 1.826], [-0.135, -0.271, 1.783], [-0.136, -0.237, 1.806], [-0.14, -0.266, 1.849]], "center_cam": [-0.15271592140197754, -0.26786383986473083, 1.8149328231811523], "dimensions": [0.03024418093264103, 0.040986526757478714, 0.05194174125790596], "yaw": 1.49579670975138, "depth": 1.81}, {"category": "cake", "score": 0.081, "bbox2D": [326.0715637207031, 148.24505615234375, 343.4015197753906, 177.2610626220703], "bbox3D_proj": [[329.3, 150.5], [330.9, 158.7], [330.4, 174.0], [328.9, 165.5], [339.6, 150.3], [341.4, 158.6], [340.8, 173.8], [339.0, 165.3]], "bbox3D_cam": [[0.014, -0.286, 1.751], [0.018, -0.258, 1.709], [0.017, -0.222, 1.733], [0.013, -0.25, 1.775], [0.043, -0.286, 1.754], [0.047, -0.259, 1.712], [0.046, -0.223, 1.735], [0.042, -0.251, 1.777]], "center_cam": [0.02992877922952175, -0.2544375956058502, 1.7432538270950317], "dimensions": [0.029561782255768776, 0.04267844557762146, 0.05047659948468208], "yaw": 1.4911263830692967, "depth": 1.74}, {"category": "cake", "score": 0.079, "bbox2D": [245.22052001953125, 87.75235748291016, 499.1075134277344, 241.76813507080078], "bbox3D_proj": [[264.1, 114.1], [429.9, 151.1], [419.5, 247.6], [263.6, 198.5], [336.0, 96.7], [486.2, 125.2], [474.6, 208.3], [332.4, 170.6]], "bbox3D_cam": [[-0.175, -0.384, 1.767], [0.258, -0.243, 1.499], [0.248, -0.031, 1.593], [-0.185, -0.171, 1.861], [0.039, -0.498, 2.051], [0.472, -0.358, 1.783], [0.461, -0.145, 1.876], [0.028, -0.286, 2.145]], "center_cam": [0.14305558800697327, -0.26446226239204407, 1.8217906951904297], "dimensions": [0.3729824423789978, 0.23234985768795013, 0.5285566449165344], "yaw": 0.6091644034058171, "depth": 1.82}, {"category": "cake", "score": 0.079, "bbox2D": [337.14495849609375, 141.43972778320312, 352.52996826171875, 172.11834716796875], "bbox3D_proj": [[339.9, 144.8], [341.1, 151.9], [340.6, 167.7], [339.4, 160.3], [349.6, 144.7], [351.0, 151.9], [350.3, 167.7], [349.0, 160.3]], "bbox3D_cam": [[0.043, -0.293, 1.705], [0.045, -0.268, 1.666], [0.044, -0.232, 1.689], [0.042, -0.257, 1.727], [0.07, -0.293, 1.706], [0.072, -0.269, 1.667], [0.071, -0.233, 1.69], [0.069, -0.257, 1.729]], "center_cam": [0.05713178217411041, -0.2626214623451233, 1.6973711252212524], "dimensions": [0.027016721665859222, 0.04236866533756256, 0.0458165742456913], "yaw": 1.5223329274851995, "depth": 1.7}, {"category": "cake", "score": 0.074, "bbox2D": [302.3404846191406, 150.49058532714844, 319.85760498046875, 178.87413024902344], "bbox3D_proj": [[306.1, 152.6], [306.7, 159.8], [306.6, 175.8], [306.0, 168.3], [316.3, 152.5], [317.2, 159.7], [317.0, 175.7], [316.1, 168.2]], "bbox3D_cam": [[-0.052, -0.277, 1.728], [-0.049, -0.252, 1.687], [-0.05, -0.215, 1.71], [-0.053, -0.239, 1.75], [-0.023, -0.277, 1.73], [-0.02, -0.252, 1.689], [-0.021, -0.215, 1.712], [-0.024, -0.24, 1.752]], "center_cam": [-0.036657072603702545, -0.24596524238586426, 1.7198039293289185], "dimensions": [0.028941331431269646, 0.0433034785091877, 0.04760754480957985], "yaw": 1.50799518444514, "depth": 1.72}, {"category": "cupcake", "score": 0.074, "bbox2D": [95.80094909667969, 104.6004867553711, 496.8414764404297, 377.04061126708984], "bbox3D_proj": [[260.3, 160.5], [205.0, 214.6], [201.3, 303.0], [255.3, 229.4], [369.0, 178.9], [350.5, 240.7], [339.0, 329.6], [359.7, 248.1]], "bbox3D_cam": [[-0.207, -0.292, 1.969], [-0.287, -0.1, 1.468], [-0.312, 0.097, 1.547], [-0.232, -0.095, 2.048], [0.141, -0.234, 1.935], [0.061, -0.042, 1.434], [0.036, 0.155, 1.514], [0.116, -0.037, 2.015]], "center_cam": [-0.08553628623485565, -0.06858024001121521, 1.7412298917770386], "dimensions": [0.35419052839279175, 0.21387343108654022, 0.542295515537262], "yaw": 1.7199042582129183, "depth": 1.74}, {"category": "cake", "score": 0.072, "bbox2D": [266.447509765625, 157.21302795410156, 284.9273681640625, 183.06275939941406], "bbox3D_proj": [[270.9, 158.6], [270.8, 166.3], [271.1, 180.6], [271.2, 172.6], [281.1, 158.6], [281.2, 166.3], [281.4, 180.5], [281.3, 172.5]], "bbox3D_cam": [[-0.157, -0.271, 1.793], [-0.154, -0.245, 1.751], [-0.155, -0.21, 1.773], [-0.158, -0.237, 1.814], [-0.128, -0.271, 1.795], [-0.124, -0.245, 1.753], [-0.125, -0.211, 1.775], [-0.129, -0.237, 1.816]], "center_cam": [-0.14128457009792328, -0.2408096343278885, 1.7837940454483032], "dimensions": [0.029787546023726463, 0.040617555379867554, 0.04904805123806], "yaw": 1.5051296516151542, "depth": 1.78}, {"category": "cake", "score": 0.071, "bbox2D": [260.4090270996094, 135.5932159423828, 314.5230407714844, 184.7394561767578], "bbox3D_proj": [[275.4, 141.8], [273.4, 156.4], [273.5, 177.0], [275.5, 161.5], [301.7, 142.6], [301.1, 157.2], [300.8, 177.8], [301.4, 162.3]], "bbox3D_cam": [[-0.145, -0.318, 1.808], [-0.144, -0.265, 1.716], [-0.146, -0.216, 1.745], [-0.147, -0.27, 1.836], [-0.068, -0.317, 1.811], [-0.066, -0.263, 1.719], [-0.068, -0.214, 1.747], [-0.07, -0.268, 1.839]], "center_cam": [-0.10659957677125931, -0.2664138078689575, 1.7776520252227783], "dimensions": [0.07781743258237839, 0.056460797786712646, 0.10613598674535751], "yaw": 1.553240573875643, "depth": 1.78}, {"category": "cupcake", "score": 0.071, "bbox2D": [161.25648498535156, 277.8946228027344, 240.83291625976562, 347.753173828125], "bbox3D_proj": [[221.7, 270.1], [154.2, 286.4], [152.7, 327.4], [218.6, 308.3], [253.4, 294.8], [184.5, 314.4], [182.1, 357.2], [249.3, 334.5]], "bbox3D_cam": [[-0.289, 0.024, 1.718], [-0.44, 0.06, 1.58], [-0.457, 0.161, 1.625], [-0.305, 0.124, 1.762], [-0.189, 0.082, 1.623], [-0.34, 0.118, 1.486], [-0.357, 0.219, 1.53], [-0.205, 0.182, 1.668]], "center_cam": [-0.3228609263896942, 0.12144223600625992, 1.6240410804748535], "dimensions": [0.14952851831912994, 0.11088027060031891, 0.20789918303489685], "yaw": 2.397632513105895, "depth": 1.62}, {"category": "cake", "score": 0.07, "bbox2D": [260.18280029296875, 151.28309631347656, 290.4121398925781, 185.356201171875], "bbox3D_proj": [[268.8, 154.0], [268.0, 164.5], [268.5, 181.3], [269.2, 170.4], [282.9, 154.0], [282.5, 164.6], [282.8, 181.4], [283.1, 170.4]], "bbox3D_cam": [[-0.161, -0.278, 1.761], [-0.158, -0.243, 1.707], [-0.159, -0.203, 1.733], [-0.162, -0.239, 1.787], [-0.12, -0.278, 1.763], [-0.117, -0.243, 1.709], [-0.118, -0.204, 1.734], [-0.121, -0.239, 1.789]], "center_cam": [-0.13951469957828522, -0.24094276130199432, 1.7478688955307007], "dimensions": [0.040459562093019485, 0.04704492539167404, 0.06486824154853821], "yaw": 1.528618009891351, "depth": 1.75}, {"category": "cake", "score": 0.067, "bbox2D": [259.819580078125, 154.29641723632812, 274.9891052246094, 180.55279541015625], "bbox3D_proj": [[262.8, 156.1], [262.4, 163.4], [262.8, 177.8], [263.2, 170.2], [272.9, 156.0], [272.7, 163.4], [273.0, 177.8], [273.2, 170.2]], "bbox3D_cam": [[-0.184, -0.282, 1.823], [-0.181, -0.256, 1.781], [-0.182, -0.221, 1.802], [-0.185, -0.247, 1.845], [-0.154, -0.283, 1.825], [-0.151, -0.257, 1.783], [-0.152, -0.221, 1.804], [-0.155, -0.247, 1.846]], "center_cam": [-0.16812023520469666, -0.25186216831207275, 1.8135993480682373], "dimensions": [0.029870184138417244, 0.041479550302028656, 0.04964534193277359], "yaw": 1.5112260846998127, "depth": 1.81}, {"category": "cupcake", "score": 0.066, "bbox2D": [251.1307830810547, 98.35665893554688, 422.1761474609375, 231.73875427246094], "bbox3D_proj": [[278.3, 104.3], [301.3, 156.9], [296.9, 231.4], [275.8, 169.9], [365.9, 105.0], [404.6, 155.6], [394.3, 227.4], [359.1, 168.5]], "bbox3D_cam": [[-0.151, -0.462, 1.993], [-0.063, -0.256, 1.665], [-0.08, -0.077, 1.773], [-0.168, -0.282, 2.101], [0.14, -0.475, 2.062], [0.227, -0.27, 1.734], [0.21, -0.091, 1.842], [0.123, -0.296, 2.17]], "center_cam": [0.029798056930303574, -0.2760448157787323, 1.9175505638122559], "dimensions": [0.2987114489078522, 0.20960858464241028, 0.39708301424980164], "yaw": 1.3480865871525216, "depth": 1.92}, {"category": "cake", "score": 0.064, "bbox2D": [288.022705078125, 152.9247283935547, 306.1345520019531, 180.0853271484375], "bbox3D_proj": [[291.8, 153.7], [291.9, 161.5], [292.0, 178.2], [291.9, 170.1], [303.0, 153.7], [303.4, 161.5], [303.3, 178.2], [302.9, 170.2]], "bbox3D_cam": [[-0.093, -0.277, 1.746], [-0.091, -0.25, 1.701], [-0.092, -0.21, 1.725], [-0.094, -0.237, 1.769], [-0.061, -0.277, 1.748], [-0.059, -0.25, 1.703], [-0.06, -0.211, 1.727], [-0.063, -0.237, 1.771]], "center_cam": [-0.0766434296965599, -0.24363283812999725, 1.7362935543060303], "dimensions": [0.03194165602326393, 0.04586689546704292, 0.0521712489426136], "yaw": 1.5198159067018506, "depth": 1.74}, {"category": "cupcake", "score": 0.059, "bbox2D": [256.414306640625, 151.75143432617188, 279.5809631347656, 176.70574951171875], "bbox3D_proj": [[262.8, 153.1], [261.4, 162.1], [261.9, 174.1], [263.3, 164.8], [275.2, 153.2], [274.1, 162.2], [274.5, 174.2], [275.6, 164.9]], "bbox3D_cam": [[-0.194, -0.306, 1.92], [-0.193, -0.273, 1.871], [-0.194, -0.243, 1.892], [-0.194, -0.275, 1.94], [-0.155, -0.306, 1.92], [-0.154, -0.273, 1.872], [-0.155, -0.242, 1.893], [-0.155, -0.275, 1.941]], "center_cam": [-0.17441213130950928, -0.2741100788116455, 1.906230092048645], "dimensions": [0.03906482085585594, 0.03688447177410126, 0.05835914984345436], "yaw": 1.560267114497887, "depth": 1.91}], "GDino3D": [{"category": "cupcake", "score": 0.466, "bbox2D": [24.18450164794922, 86.93560791015625, 537.2273483276367, 510.0], "bbox3D_proj": [[104.9, 323.9], [331.5, 485.4], [310.5, 515.3], [123.4, 379.7], [348.4, 26.3], [516.3, 125.0], [476.8, 194.0], [331.4, 105.2]], "bbox3D_cam": [[-0.084, 0.022, 0.234], [0.002, 0.073, 0.22], [-0.006, 0.101, 0.268], [-0.093, 0.05, 0.282], [0.013, -0.115, 0.331], [0.1, -0.064, 0.317], [0.091, -0.036, 0.365], [0.004, -0.087, 0.379]], "center_cam": [0.0033925422467291355, -0.007020916324108839, 0.29949283599853516], "dimensions": [0.19400447607040405, 0.055833447724580765, 0.10164643079042435], "yaw": 0.5308134212764979, "depth": 0.3}, {"category": "cake", "score": 0.308, "bbox2D": [24.18450164794922, 86.93560791015625, 537.2273483276367, 510.0], "bbox3D_proj": [[104.9, 323.9], [331.5, 485.4], [310.5, 515.3], [123.4, 379.7], [348.4, 26.3], [516.3, 125.0], [476.8, 194.0], [331.4, 105.2]], "bbox3D_cam": [[-0.084, 0.022, 0.234], [0.002, 0.073, 0.22], [-0.006, 0.101, 0.268], [-0.093, 0.05, 0.282], [0.013, -0.115, 0.331], [0.1, -0.064, 0.317], [0.091, -0.036, 0.365], [0.004, -0.087, 0.379]], "center_cam": [0.0033925422467291355, -0.007020916324108839, 0.29949283599853516], "dimensions": [0.19400447607040405, 0.055833447724580765, 0.10164643079042435], "yaw": 0.5308134212764979, "depth": 0.3}]}}