| { |
| "camera_pose_tran": [ |
| -0.25927396518770385, |
| -0.5402842535104574, |
| 1.0773574055920363 |
| ], |
| "camera_pose_rot": [ |
| [ |
| -0.2588278389936406, |
| -0.014923073444861422, |
| 0.965808185739198 |
| ], |
| [ |
| 0.9659234699301398, |
| -0.003998771094314772, |
| 0.2587969475628591 |
| ], |
| [ |
| 4.188525332730887e-18, |
| 0.9998806487319846, |
| 0.015449540164854598 |
| ] |
| ], |
| "camera_extrinsics": [ |
| [ |
| -0.25882783899364076, |
| 0.9659234699301401, |
| 8.979611376987613e-19, |
| 0.4547659207825907 |
| ], |
| [ |
| -0.01492307344486142, |
| -0.003998771094314775, |
| 0.9998806487319848, |
| -1.083258459100061 |
| ], |
| [ |
| 0.9658081857391981, |
| 0.2587969475628591, |
| 0.015449540164854603, |
| 0.37358815704253084 |
| ] |
| ], |
| "camera_intrinsics": [ |
| [ |
| 1168.0, |
| 0.0, |
| 648.0 |
| ], |
| [ |
| 0.0, |
| 1168.0, |
| 484.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "obj_dict": { |
| "0": { |
| "model_file_name": [ |
| "52824459-a268-4a34-8416-6478f7c2aded" |
| ], |
| "obj_id": [ |
| 572 |
| ], |
| "label": [ |
| "Three-Seat / Multi-seat Sofa" |
| ], |
| "cls_id": [ |
| 46 |
| ], |
| "obj_tran": [ |
| -4.122967720031738, |
| -1.5755956172943115, |
| 0.0 |
| ], |
| "obj_rot": [ |
| [ |
| 1.1924880454806024e-08, |
| -5.212530798329584e-16, |
| 0.9999999999999999 |
| ], |
| [ |
| 0.9999999999999993, |
| 3.178651126218088e-08, |
| -1.1924880454806e-08 |
| ], |
| [ |
| -3.178651126218086e-08, |
| 0.9999999999999994, |
| 9.003034267098105e-16 |
| ] |
| ], |
| "obj_scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "bbox3d_world": [ |
| [ |
| -4.610092639923096, |
| -3.6360487937927246, |
| -4.610092639923096, |
| -3.6360487937927246, |
| -4.610092639923096, |
| -3.6360487937927246, |
| -4.610092639923096, |
| -3.6360487937927246 |
| ], |
| [ |
| -2.825775623321533, |
| -2.825775623321533, |
| -2.825775623321533, |
| -2.825775623321533, |
| -0.32544565200805664, |
| -0.32544565200805664, |
| -0.32544559240341187, |
| -0.32544562220573425 |
| ], |
| [ |
| -0.00011622813326539472, |
| -0.00011615459516178817, |
| 0.9445319771766663, |
| 0.9445320963859558, |
| -0.00011633742542471737, |
| -0.00011626388732111081, |
| 0.9445318579673767, |
| 0.9445319771766663 |
| ] |
| ], |
| "bbox3d_world_center": [ |
| -4.12307071685791, |
| -1.575610626488924, |
| 0.4722078655831865 |
| ], |
| "half_length": [ |
| 1.2501649950773317, |
| 0.4723241513318633, |
| 0.48702190815711777 |
| ], |
| "bbox3d_camera": [ |
| [ |
| -1.081496758988366, |
| -1.333606422767344, |
| -1.081496758988366, |
| -1.333606422767344, |
| 1.333630642873075, |
| 1.0815209790940967, |
| 1.3336307004466004, |
| 1.0815210078808595 |
| ], |
| [ |
| -1.0032782924266064, |
| -1.0178139467515983, |
| -0.05874283207780673, |
| -0.07327844073706369, |
| -1.0132766489212588, |
| -1.0278123032462507, |
| -0.068741198726751, |
| -0.0832768072668354 |
| ], |
| [ |
| -4.810180953095586, |
| -3.869441432097852, |
| -4.795586572705992, |
| -3.8548470510026593, |
| -4.163103190308242, |
| -3.2223636693105067, |
| -4.148508794646363, |
| -3.2077692806557794 |
| ] |
| ], |
| "bbox_2d_from_3d": [ |
| [ |
| 192.6963934604697, |
| 363.8071686887524 |
| ], |
| [ |
| 122.7238818410332, |
| 395.61476723028534 |
| ], |
| [ |
| 192.29679796754917, |
| 249.1536220675673 |
| ], |
| [ |
| 121.96185410428839, |
| 253.10150644739957 |
| ], |
| [ |
| 511.0816695706766, |
| 384.14242018973374 |
| ], |
| [ |
| 520.0077497789374, |
| 428.2739425758996 |
| ], |
| [ |
| 511.7398283609536, |
| 251.67693743550197 |
| ], |
| [ |
| 520.8995315253158, |
| 257.16120742757704 |
| ] |
| ], |
| "bbox_2d": [ |
| 134, |
| 251, |
| 518, |
| 425 |
| ], |
| "render_box": [ |
| 234, |
| 350, |
| 618, |
| 525 |
| ], |
| "occ_iou": 0.8441038721168012 |
| }, |
| "1": { |
| "model_file_name": [ |
| "f7e667ee-f042-4428-b29b-6a89d81a48d9" |
| ], |
| "obj_id": [ |
| 574 |
| ], |
| "label": [ |
| "Nightstand" |
| ], |
| "cls_id": [ |
| 36 |
| ], |
| "obj_tran": [ |
| -4.426273345947266, |
| -3.258699417114258, |
| 0.0 |
| ], |
| "obj_rot": [ |
| [ |
| 1.1924880454806024e-08, |
| -5.212530798329584e-16, |
| 0.9999999999999999 |
| ], |
| [ |
| 0.9999999999999993, |
| 3.178651126218088e-08, |
| -1.1924880454806e-08 |
| ], |
| [ |
| -3.178651126218086e-08, |
| 0.9999999999999994, |
| 9.003034267098105e-16 |
| ] |
| ], |
| "obj_scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "bbox3d_world": [ |
| [ |
| -4.6389875411987305, |
| -4.213454246520996, |
| -4.6389875411987305, |
| -4.213454246520996, |
| -4.6389875411987305, |
| -4.213454246520996, |
| -4.6389875411987305, |
| -4.213454246520996 |
| ], |
| [ |
| -3.5064454078674316, |
| -3.5064454078674316, |
| -3.5064454078674316, |
| -3.5064454078674316, |
| -3.011052370071411, |
| -3.011052370071411, |
| -3.011052370071411, |
| -3.011052370071411 |
| ], |
| [ |
| -0.00014914422354195267, |
| -0.00014911210746504366, |
| 0.5233780145645142, |
| 0.5233780145645142, |
| -0.00014916587679181248, |
| -0.00014913376071490347, |
| 0.5233780145645142, |
| 0.5233780145645142 |
| ] |
| ], |
| "bbox3d_world_center": [ |
| -4.426220893859863, |
| -3.2587488889694214, |
| 0.26161443778619287 |
| ], |
| "half_length": [ |
| 0.24769651311467608, |
| 0.2617635846517293, |
| 0.21276664438511603 |
| ], |
| "bbox3d_camera": [ |
| [ |
| -1.731492874298434, |
| -1.8416327373797161, |
| -1.731492874298434, |
| -1.8416327373797161, |
| -1.2529811122512686, |
| -1.3631209753325508, |
| -1.2529811122512686, |
| -1.3631209753325508 |
| ], |
| [ |
| -1.0001581611951718, |
| -1.0065083936926378, |
| -0.4766934860373575, |
| -0.48304375064706717, |
| -1.002139146205701, |
| -1.0084893787031668, |
| -0.47867444939722104, |
| -0.4850247140069307 |
| ], |
| [ |
| -5.014243656350926, |
| -4.603260116550421, |
| -5.006155402483838, |
| -4.5951718631795115, |
| -4.886037450659956, |
| -4.475053910859452, |
| -4.877949196458336, |
| -4.4669656571540095 |
| ] |
| ], |
| "bbox_2d_from_3d": [ |
| [ |
| 122.33611848727517, |
| 358.486634110447 |
| ], |
| [ |
| 90.35830011802165, |
| 369.69230654664483 |
| ], |
| [ |
| 122.01029786478946, |
| 297.6093395957489 |
| ], |
| [ |
| 89.9470525471097, |
| 303.38998905314 |
| ], |
| [ |
| 174.23836248821533, |
| 361.7799376885824 |
| ], |
| [ |
| 146.11104816806045, |
| 373.60909541971034 |
| ], |
| [ |
| 173.99003882901738, |
| 299.30807501048656 |
| ], |
| [ |
| 145.788947869056, |
| 305.4109269513647 |
| ] |
| ], |
| "bbox_2d": [ |
| 92, |
| 299, |
| 171, |
| 368 |
| ], |
| "render_box": [ |
| 191, |
| 397, |
| 273, |
| 472 |
| ], |
| "occ_iou": 0.59846485967858 |
| }, |
| "2": { |
| "model_file_name": [ |
| "5fc13bc0-a4ec-4d58-b82c-fc9e36ebe244" |
| ], |
| "obj_id": [ |
| 575 |
| ], |
| "label": [ |
| "Lounge Chair / Cafe Chair / Office Chair" |
| ], |
| "cls_id": [ |
| 50 |
| ], |
| "obj_tran": [ |
| -3.4610800743103027, |
| -3.319488763809204, |
| 0.0 |
| ], |
| "obj_rot": [ |
| [ |
| -0.7071113822002121, |
| 2.1855691066775142e-08, |
| 0.7071021801429445 |
| ], |
| [ |
| 0.7071021801429421, |
| -6.556679664764545e-08, |
| 0.7071113822002117 |
| ], |
| [ |
| 6.181683277370739e-08, |
| 0.9999999999999976, |
| 3.090882140210948e-08 |
| ] |
| ], |
| "obj_scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "bbox3d_world": [ |
| [ |
| -3.463400363922119, |
| -2.967392921447754, |
| -3.463400363922119, |
| -2.967392921447754, |
| -3.95442271232605, |
| -3.4584152698516846, |
| -3.95442271232605, |
| -3.4584152698516846 |
| ], |
| [ |
| -3.811772346496582, |
| -3.315758466720581, |
| -3.811772108078003, |
| -3.315758228302002, |
| -3.320756196975708, |
| -2.824742317199707, |
| -3.320756196975708, |
| -2.824742317199707 |
| ], |
| [ |
| 0.0009160260087810457, |
| 0.0009159953333437443, |
| 0.7164390087127686, |
| 0.7164390087127686, |
| 0.0009160045301541686, |
| 0.0009159738547168672, |
| 0.7164390087127686, |
| 0.7164390087127686 |
| ] |
| ], |
| "bbox3d_world_center": [ |
| -3.460907816886902, |
| -3.3182572722434998, |
| 0.35867750432225876 |
| ], |
| "half_length": [ |
| 0.34720301438102336, |
| 0.35776147208679066, |
| 0.3507325384981891 |
| ], |
| "bbox3d_camera": [ |
| [ |
| -2.330690018965389, |
| -1.9799591055390455, |
| -2.330689788671288, |
| -1.979958875244944, |
| -1.729315742693478, |
| -1.3785848292671343, |
| -1.729315742693478, |
| -1.3785848292671343 |
| ], |
| [ |
| -1.0154155593430971, |
| -1.0248009914729432, |
| -0.29997797616777067, |
| -0.30936337762584065, |
| -1.010051479436406, |
| -1.0194369115662523, |
| -0.29461387383163495, |
| -0.30399927528970494 |
| ], |
| [ |
| -3.957853160822787, |
| -3.3504382351325623, |
| -3.9467985980606244, |
| -3.3393836718964787, |
| -4.305013083923952, |
| -3.6975981582337276, |
| -4.293958582531955, |
| -3.6865436563678093 |
| ] |
| ], |
| "bbox_2d_from_3d": [ |
| [ |
| -19.904363241416263, |
| 391.8293803636442 |
| ], |
| [ |
| -21.11787309192198, |
| 420.6285067859248 |
| ], |
| [ |
| -20.86756868031216, |
| 286.3871491613637 |
| ], |
| [ |
| -22.260297333960466, |
| 296.10226265821296 |
| ], |
| [ |
| 89.40828702604907, |
| 379.0193429129381 |
| ], |
| [ |
| 106.26580990169458, |
| 403.0102371532658 |
| ], |
| [ |
| 88.80434677656197, |
| 282.06897109292146 |
| ], |
| [ |
| 105.61291026586406, |
| 290.1577307412401 |
| ] |
| ], |
| "bbox_2d": [ |
| 0, |
| 286, |
| 94, |
| 410 |
| ], |
| "render_box": [ |
| 79, |
| 385, |
| 194, |
| 510 |
| ], |
| "occ_iou": 0.7002946165520936 |
| }, |
| "3": { |
| "model_file_name": [ |
| "5fc13bc0-a4ec-4d58-b82c-fc9e36ebe244" |
| ], |
| "obj_id": [ |
| 576 |
| ], |
| "label": [ |
| "Lounge Chair / Cafe Chair / Office Chair" |
| ], |
| "cls_id": [ |
| 50 |
| ], |
| "obj_tran": [ |
| -3.3691041469573975, |
| 0.0734417736530304, |
| 0.0 |
| ], |
| "obj_rot": [ |
| [ |
| 0.8319275988362875, |
| 4.0327408105413004e-08, |
| 0.5548841953907927 |
| ], |
| [ |
| 0.5548841953907936, |
| -1.6813566885921128e-08, |
| -0.8319275988362878 |
| ], |
| [ |
| -2.4219901259283667e-08, |
| 0.999999999999999, |
| -3.636471172604595e-08 |
| ] |
| ], |
| "obj_scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "bbox3d_world": [ |
| [ |
| -3.851393938064575, |
| -3.4621622562408447, |
| -3.851393938064575, |
| -3.4621622562408447, |
| -3.273698568344116, |
| -2.8844666481018066, |
| -3.273698568344116, |
| -2.8844666481018066 |
| ], |
| [ |
| 0.17215827107429504, |
| -0.41140982508659363, |
| 0.17215822637081146, |
| -0.4114098846912384, |
| 0.5574731826782227, |
| -0.026094913482666016, |
| 0.5574731230735779, |
| -0.026094958186149597 |
| ], |
| [ |
| 0.0009159984765574336, |
| 0.0009159678011201322, |
| 0.7164390087127686, |
| 0.7164389491081238, |
| 0.0009160321205854416, |
| 0.0009160015033558011, |
| 0.7164390683174133, |
| 0.7164390087127686 |
| ] |
| ], |
| "bbox3d_world_center": [ |
| -3.3679303526878357, |
| 0.07303165271878242, |
| 0.35867750434408663 |
| ], |
| "half_length": [ |
| 0.3472030004820036, |
| 0.3577615255321916, |
| 0.3507325191008957 |
| ], |
| "bbox3d_camera": [ |
| [ |
| 1.6179056054583092, |
| 0.9534794899997616, |
| 1.6179055622781653, |
| 0.9534794324262363, |
| 1.8405666777492216, |
| 1.1761405005813081, |
| 1.8405666201756963, |
| 1.1761404574011642 |
| ], |
| [ |
| -1.0255563568642705, |
| -1.0290313652764767, |
| -0.3101187450278662, |
| -0.3135937823062407, |
| -1.035718099786083, |
| -1.0391931116980264, |
| -0.320280461932574, |
| -0.3237555028880592 |
| ], |
| [ |
| -3.3015514480395813, |
| -3.0766539460406155, |
| -3.290496958123184, |
| -3.0655994604275363, |
| -2.643890207606595, |
| -2.4189924753401146, |
| -2.6328357211454936, |
| -2.4079379854704808 |
| ] |
| ], |
| "bbox_2d_from_3d": [ |
| [ |
| 610.1857185804863, |
| 423.40711172753885 |
| ], |
| [ |
| 504.9862376223543, |
| 437.3272379218462 |
| ], |
| [ |
| 611.1471575252181, |
| 297.0401198971398 |
| ], |
| [ |
| 505.63885912847365, |
| 301.73995338624684 |
| ], |
| [ |
| 730.556572097069, |
| 470.77628145634185 |
| ], |
| [ |
| 607.9471636814039, |
| 492.8849380138389 |
| ], |
| [ |
| 732.2635682696312, |
| 313.0427119574495 |
| ], |
| [ |
| 609.250712961395, |
| 320.52079863663266 |
| ] |
| ], |
| "bbox_2d": [ |
| 536, |
| 300, |
| 647, |
| 477 |
| ], |
| "render_box": [ |
| 635, |
| 399, |
| 797, |
| 576 |
| ], |
| "occ_iou": 0.6662099066179455 |
| }, |
| "4": { |
| "model_file_name": [ |
| "2b15dc28-9a81-4daf-b3e2-96c01c83eaca" |
| ], |
| "obj_id": [ |
| 577 |
| ], |
| "label": [ |
| "Coffee Table" |
| ], |
| "cls_id": [ |
| 36 |
| ], |
| "obj_tran": [ |
| -2.770322561264038, |
| -1.630907654762268, |
| 0.0 |
| ], |
| "obj_rot": [ |
| [ |
| 1.1924880454806024e-08, |
| -5.212530798329584e-16, |
| 0.9999999999999999 |
| ], |
| [ |
| 0.9999999999999993, |
| 3.178651126218088e-08, |
| -1.1924880454806e-08 |
| ], |
| [ |
| -3.178651126218086e-08, |
| 0.9999999999999994, |
| 9.003034267098105e-16 |
| ] |
| ], |
| "obj_scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "bbox3d_world": [ |
| [ |
| -3.1523735523223877, |
| -2.3882715702056885, |
| -3.1523735523223877, |
| -2.3882715702056885, |
| -3.1523735523223877, |
| -2.3882715702056885, |
| -3.1523735523223877, |
| -2.3882715702056885 |
| ], |
| [ |
| -2.203737735748291, |
| -2.203737735748291, |
| -2.203737735748291, |
| -2.203737735748291, |
| -1.058154582977295, |
| -1.0581547021865845, |
| -1.058154582977295, |
| -1.058154582977295 |
| ], |
| [ |
| 2.6712749345847442e-08, |
| 8.440084542371551e-08, |
| 0.6938740015029907, |
| 0.6938740611076355, |
| -2.33622756695695e-08, |
| 3.432581863194173e-08, |
| 0.693873941898346, |
| 0.6938740015029907 |
| ] |
| ], |
| "bbox3d_world_center": [ |
| -2.770322561264038, |
| -1.6309461742639542, |
| 0.3469370160111376 |
| ], |
| "half_length": [ |
| 0.572791584814655, |
| 0.3469370036988992, |
| 0.3820509842278787 |
| ], |
| "bbox3d_camera": [ |
| [ |
| -0.8579540454990784, |
| -1.0557249103011013, |
| -0.8579540454990784, |
| -1.0557249103011013, |
| 0.24859160851899195, |
| 0.05082062856991859, |
| 0.24859160851899195, |
| 0.05082074371696921 |
| ], |
| [ |
| -1.027403087586393, |
| -1.0388057799036738, |
| -0.33361192753488567, |
| -0.34501461793584653, |
| -1.0319840624528762, |
| -1.043386754293468, |
| -0.33819291192985124, |
| -0.3495956023308121 |
| ], |
| [ |
| -3.24132062312623, |
| -2.5033446731671214, |
| -3.230600589283361, |
| -2.4926246392946423, |
| -2.944847200783296, |
| -2.2068712816751876, |
| -2.934127167087655, |
| -2.1961512170989366 |
| ] |
| ], |
| "bbox_2d_from_3d": [ |
| [ |
| 169.41943830036556, |
| 427.110784434449 |
| ], |
| [ |
| 77.71216188307795, |
| 484.3408098638781 |
| ], |
| [ |
| 168.90649688062868, |
| 302.30747543557897 |
| ], |
| [ |
| 76.65295147274509, |
| 322.83388637751375 |
| ], |
| [ |
| 373.2988224776062, |
| 446.6553357037248 |
| ], |
| [ |
| 337.4485628279614, |
| 518.1093814428771 |
| ], |
| [ |
| 373.4789390874258, |
| 309.3129177161982 |
| ], |
| [ |
| 337.5142398663766, |
| 334.96437794064553 |
| ] |
| ], |
| "bbox_2d": [ |
| 125, |
| 311, |
| 359, |
| 483 |
| ], |
| "render_box": [ |
| 224, |
| 410, |
| 459, |
| 596 |
| ], |
| "occ_iou": 0.9337957610789981 |
| } |
| }, |
| "before_padding_margin_object": [ |
| 468, |
| 191, |
| 192, |
| 582, |
| 577, |
| 240, |
| 435, |
| 527, |
| 43, |
| 575, |
| 576, |
| 578 |
| ], |
| "after_padding_margin_object": [] |
| } |
