3d_video_object_detection/samples.json

[{"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"toilet\", \"bbox_3d\": [0.04, 0.71, 1.03, 0.74, 0.45, 0.82, -1.65, 0.32, 1.83]},\n\t{\"label\": \"curtain\", \"bbox_3d\": [0.46, 0.07, 0.96, 0.94, 0.39, 1.99, -1.65, 0.32, 1.83]},\n\t{\"label\": \"towel\", \"bbox_3d\": [-0.1, 0.23, 1.18, 0.23, 0.29, 0.14, -1.65, 0.32, 1.83]},\n\t{\"label\": \"toilet paper\", \"bbox_3d\": [-0.44, 0.6, 1.23, 0.11, 0.14, 0.15, -1.65, 0.32, 1.83]},\n\t{\"label\": \"picture\", \"bbox_3d\": [-0.07, -0.33, 1.13, 0.05, 0.43, 0.51, -1.65, 0.32, 1.83]},\n\t{\"label\": \"bathtub\", \"bbox_3d\": [0.92, 0.97, 0.94, 1.21, 0.74, 0.38, -1.65, 0.32, 1.83]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.47, 1.16, 0.82, 0.25, 0.68, 0.06, -0.95, -1.16, 2.23]},\n\t{\"label\": \"bin\", \"bbox_3d\": [-0.42, 0.89, 1.29, 0.17, 0.34, 0.32, -1.65, 0.32, 1.83]}\n]```"}], "images": ["0_0.jpg", "0_1.jpg", "0_2.jpg", "0_3.jpg", "0_4.jpg", "0_5.jpg"], "boxes": [{"bbox_3d": [0.037866990770072495, 0.7110367008733685, 1.0253355019743158, 0.7353889074944258, 0.4506813515427113, 0.8246120158582926, -1.6523567023285841, 0.3182360838944882, 1.8280492940661708], "label": "toilet", "in_reference": true}, {"bbox_3d": [0.462518801322586, 0.07039847607364447, 0.9591956481481045, 0.9379553404301404, 0.38516008014559744, 1.9931078180670738, -1.6523567023285841, 0.3182360838944882, 1.8280492940661708], "label": "curtain", "in_reference": true}, {"bbox_3d": [-0.09820480261643755, 0.23125830190113594, 1.1796050221054597, 0.23011386528253563, 0.289087408261776, 0.13662278652191162, -1.6523567023285841, 0.3182360838944882, 1.8280492940661708], "label": "towel", "in_reference": true}, {"bbox_3d": [-0.43566098437461587, 0.6031499284791063, 1.230372419536997, 0.10836559584641448, 0.14128725553917887, 0.1498140394687652, -1.6523567023285841, 0.3182360838944882, 1.8280492940661708], "label": "toilet paper", "in_reference": true}, {"bbox_3d": [-0.07324940056070856, -0.3288200708745612, 1.128244653418301, 0.05325960408604158, 0.430757935346365, 0.507440447807312, -1.6523567023285841, 0.3182360838944882, 1.8280492940661708], "label": "picture", "in_reference": true}, {"bbox_3d": [0.9166664138547089, 0.9698149301257665, 0.9362255107033741, 1.205954829659179, 0.7363230770765543, 0.38308069482445717, -1.6523567023285841, 0.3182360838944882, 1.8280492940661708], "label": "bathtub", "in_reference": false}, {"bbox_3d": [0.4677342543368366, 1.16404680144014, 0.8186303004036232, 0.24729577447271367, 0.6788027273225785, 0.06400210782885551, -0.9532225758341814, -1.1643553531295812, 2.2284246427637147], "label": "towel", "in_reference": false}, {"bbox_3d": [-0.4152850534165743, 0.8906662548504665, 1.2855607583772266, 0.17103406410837163, 0.33834558223831657, 0.3234977163374424, -1.6523567023285841, 0.3182360838944882, 1.8280492940661708], "label": "bin", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[-0.721722, 0.166878, -0.671765, 1.750653], [0.692182, 0.174776, -0.700241, 2.071908], [0.000554, -0.970363, -0.24165, 1.36745], [0.0, 0.0, 0.0, 1.0]], [[-0.651982, 0.028785, -0.757687, 1.757043], [0.758216, 0.017817, -0.65176, 2.086791], [-0.005261, -0.999427, -0.033441, 1.482734], [0.0, 0.0, 0.0, 1.0]], [[-0.614996, -0.060788, -0.786184, 1.73819], [0.788382, -0.028032, -0.614548, 2.104031], [0.015318, -0.997757, 0.065164, 1.550758], [0.0, 0.0, 0.0, 1.0]], [[-0.634323, 0.215431, -0.742444, 1.742436], [0.772265, 0.132833, -0.621258, 2.080568], [-0.035217, -0.967442, -0.250629, 1.398675], [0.0, 0.0, 0.0, 1.0]], [[-0.53889, 0.429823, -0.724465, 1.763601], [0.842242, 0.259566, -0.472498, 2.061377], [-0.015044, -0.864799, -0.501893, 1.266128], [0.0, 0.0, 0.0, 1.0]], [[-0.447964, 0.614599, -0.649305, 1.746172], [0.893, 0.272372, -0.35828, 2.060071], [-0.043346, -0.740326, -0.670849, 1.193922], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}, {"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"bag\", \"bbox_3d\": [-0.34, -0.23, 0.95, 0.26, 0.26, 0.15, -1.78, 0.35, 2.18]},\n\t{\"label\": \"bag\", \"bbox_3d\": [0.57, -0.25, 1.0, 0.21, 0.32, 0.14, -1.78, 0.35, 2.18]},\n\t{\"label\": \"vanity\", \"bbox_3d\": [0.11, -0.03, 1.1, 0.58, 1.36, 0.76, -1.78, 0.35, 2.18]},\n\t{\"label\": \"towel\", \"bbox_3d\": [-0.28, -0.07, 0.78, 0.35, 0.39, 0.11, -1.78, 0.35, 2.18]},\n\t{\"label\": \"mirror\", \"bbox_3d\": [0.02, -0.52, 1.08, 0.1, 1.3, 0.27, -1.78, 0.35, 2.18]},\n\t{\"label\": \"sink\", \"bbox_3d\": [0.13, -0.14, 1.02, 0.39, 0.61, 0.18, -1.78, 0.35, 2.18]},\n\t{\"label\": \"stopcock\", \"bbox_3d\": [0.07, -0.37, 1.12, 0.21, 0.11, 0.16, -1.78, 0.35, 2.18]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.57, 0.16, 1.28, 0.19, 0.3, 0.17, -1.78, 0.35, 2.18]},\n\t{\"label\": \"bin\", \"bbox_3d\": [1.0, 0.58, 1.16, 0.17, 0.34, 0.32, -0.67, -0.88, 2.57]},\n\t{\"label\": \"toilet\", \"bbox_3d\": [0.83, 0.63, 0.63, 0.74, 0.45, 0.82, -0.67, -0.88, 2.57]},\n\t{\"label\": \"towel\", \"bbox_3d\": [1.09, 0.18, 0.54, 0.23, 0.29, 0.14, -0.67, -0.88, 2.57]},\n\t{\"label\": \"toilet paper\", \"bbox_3d\": [1.02, 0.32, 1.02, 0.11, 0.14, 0.15, -0.67, -0.88, 2.57]},\n\t{\"label\": \"bathtub\", \"bbox_3d\": [0.75, 1.29, 0.01, 1.21, 0.74, 0.38, -0.67, -0.88, 2.57]},\n\t{\"label\": \"curtain\", \"bbox_3d\": [0.97, 0.31, -0.06, 0.94, 0.39, 1.99, -0.67, -0.88, 2.57]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.55, 1.19, 0.46, 0.25, 0.68, 0.06, 1.36, -0.35, -2.18]}\n]```"}], "images": ["1_0.jpg", "1_1.jpg", "1_2.jpg", "1_3.jpg", "1_4.jpg", "1_5.jpg"], "boxes": [{"bbox_3d": [-0.33822547783296364, -0.22912251946544543, 0.9491613157153205, 0.26441568355512635, 0.26486724557876595, 0.14745813608169556, -1.7829493603804007, 0.35082078571571707, 2.180700387642127], "label": "bag", "in_reference": true}, {"bbox_3d": [0.5693057596710588, -0.2471093503536046, 0.9954141139870116, 0.21384304321980463, 0.31851652780032147, 0.14486050605773926, -1.7829493603804007, 0.35082078571571707, 2.180700387642127], "label": "bag", "in_reference": true}, {"bbox_3d": [0.10586439631762079, -0.034359461704263405, 1.1046577780394424, 0.5763193189792635, 1.3595630034339428, 0.7601760923862457, -1.7829493603804007, 0.35082078571571707, 2.180700387642127], "label": "vanity", "in_reference": true}, {"bbox_3d": [-0.2814833493628056, -0.07491834023625565, 0.7827540271836761, 0.3476256076331139, 0.3920801602616306, 0.1058797836303711, -1.7829493603804007, 0.35082078571571707, 2.180700387642127], "label": "towel", "in_reference": true}, {"bbox_3d": [0.021646864035635607, -0.5158958895890704, 1.0828085564482157, 0.09779024101877187, 1.3023337962787154, 0.26596927642822266, -1.7829493603804007, 0.35082078571571707, 2.180700387642127], "label": "mirror", "in_reference": true}, {"bbox_3d": [0.13112458190314447, -0.13716013198830612, 1.017819378434598, 0.3909219236926477, 0.6073249253382189, 0.18081844785365905, -1.7829493603804007, 0.35082078571571707, 2.180700387642127], "label": "sink", "in_reference": true}, {"bbox_3d": [0.06747328808374202, -0.3682142344361967, 1.1188571771074438, 0.21426077100628807, 0.11162265445582342, 0.15639065849181533, -1.7829493603804019, 0.35082078571571773, 2.1807003876421276], "label": "stopcock", "in_reference": true}, {"bbox_3d": [0.5727128594095461, 0.16497517407701234, 1.2759737612269308, 0.19093326702728353, 0.29676955574011, 0.16630184379879176, -1.7829493603804019, 0.35082078571571773, 2.1807003876421276], "label": "towel", "in_reference": true}, {"bbox_3d": [0.9978585874938379, 0.5766151967435771, 1.158516263930137, 0.17103406410837163, 0.33834558223831657, 0.3234977163374424, -0.6692314173640439, -0.8784895979427418, 2.5730550729705532], "label": "bin", "in_reference": false}, {"bbox_3d": [0.8299304625200326, 0.6254716204631443, 0.6343562806112077, 0.7353889074944258, 0.4506813515427113, 0.8246120158582926, -0.6692314173640439, -0.8784895979427418, 2.5730550729705532], "label": "toilet", "in_reference": false}, {"bbox_3d": [1.0924143236852035, 0.1844455751620364, 0.5389623316618419, 0.23011386528253563, 0.289087408261776, 0.13662278652191162, -0.6692314173640439, -0.8784895979427418, 2.5730550729705532], "label": "towel", "in_reference": false}, {"bbox_3d": [1.0179077783710673, 0.31880186854851955, 1.019747465487592, 0.10836559584641448, 0.14128725553917887, 0.1498140394687652, -0.6692314173640439, -0.8784895979427418, 2.5730550729705532], "label": "toilet paper", "in_reference": false}, {"bbox_3d": [0.7462841908215839, 1.2949410895846376, 0.008250880106333208, 1.205954829659179, 0.7363230770765543, 0.38308069482445717, -0.6692314173640439, -0.8784895979427418, 2.5730550729705532], "label": "bathtub", "in_reference": false}, {"bbox_3d": [0.9664180288699604, 0.313673426023898, -0.05793956623495544, 0.9379553404301404, 0.38516008014559744, 1.9931078180670738, -0.6692314173640439, -0.8784895979427418, 2.5730550729705532], "label": "curtain", "in_reference": false}, {"bbox_3d": [0.5471491064712586, 1.1928840684901774, 0.4588328807838978, 0.24729577447271367, 0.6788027273225785, 0.06400210782885551, 1.3586432932093924, -0.3508207857157175, -2.180700387642127], "label": "towel", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[-0.746876, -0.370156, 0.552413, 1.654146], [-0.664667, 0.390788, -0.636791, 2.215562], [0.019835, -0.842775, -0.537901, 1.281626], [0.0, 0.0, 0.0, 1.0]], [[-0.77952, -0.364137, 0.509659, 1.643304], [-0.625621, 0.412661, -0.662049, 2.057688], [0.03076, -0.834935, -0.549489, 1.266845], [0.0, 0.0, 0.0, 1.0]], [[-0.918319, -0.27468, 0.285028, 1.76078], [-0.387228, 0.473973, -0.790825, 2.012888], [0.082129, -0.836601, -0.541622, 1.280617], [0.0, 0.0, 0.0, 1.0]], [[-0.999864, 0.015581, -0.005342, 1.689151], [0.013176, 0.562009, -0.827027, 2.050107], [-0.009884, -0.826985, -0.562138, 1.269509], [0.0, 0.0, 0.0, 1.0]], [[-0.983299, 0.144964, -0.110037, 1.659259], [0.173492, 0.563954, -0.807376, 2.084468], [-0.054984, -0.812983, -0.579686, 1.23559], [0.0, 0.0, 0.0, 1.0]], [[-0.857355, 0.34825, -0.37903, 1.706789], [0.514689, 0.588776, -0.623248, 2.078021], [0.006118, -0.729427, -0.684031, 1.180022], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}, {"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"bathtub\", \"bbox_3d\": [0.92, 0.46, 0.96, 1.21, 0.74, 0.38, -1.61, 0.03, 2.33]},\n\t{\"label\": \"toilet\", \"bbox_3d\": [0.11, 0.04, 1.09, 0.74, 0.45, 0.82, -1.61, 0.03, 2.33]},\n\t{\"label\": \"vanity\", \"bbox_3d\": [-0.85, 0.13, 0.59, 0.58, 1.36, 0.76, 3.07, 0.81, -3.09]},\n\t{\"label\": \"curtain\", \"bbox_3d\": [0.54, -0.41, 0.62, 0.94, 0.39, 1.99, -1.61, 0.03, 2.33]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.44, 0.61, 1.05, 0.25, 0.68, 0.06, -0.08, -0.81, 3.09]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.05, -0.47, 1.0, 0.23, 0.29, 0.14, -1.61, 0.03, 2.33]},\n\t{\"label\": \"toilet paper\", \"bbox_3d\": [-0.28, -0.24, 1.3, 0.11, 0.14, 0.15, -1.61, 0.03, 2.33]},\n\t{\"label\": \"bin\", \"bbox_3d\": [-0.27, -0.01, 1.49, 0.17, 0.34, 0.32, -1.61, 0.03, 2.33]},\n\t{\"label\": \"towel\", \"bbox_3d\": [-0.72, -0.01, 1.09, 0.19, 0.3, 0.17, 3.07, 0.81, -3.09]},\n\t{\"label\": \"picture\", \"bbox_3d\": [0.09, -0.93, 0.68, 0.05, 0.43, 0.51, -1.61, 0.03, 2.33]}\n]```"}], "images": ["2_0.jpg", "2_1.jpg", "2_2.jpg", "2_3.jpg", "2_4.jpg", "2_5.jpg"], "boxes": [{"bbox_3d": [0.9187010584682244, 0.4645430715918598, 0.9637357821940682, 1.205954829659179, 0.7363230770765543, 0.38308069482445717, -1.612249687961203, 0.03255891254579568, 2.3317486953559574], "label": "bathtub", "in_reference": true}, {"bbox_3d": [0.11193748443931092, 0.03907697650155728, 1.0874544840123792, 0.7353889074944258, 0.4506813515427113, 0.8246120158582926, -1.612249687961203, 0.03255891254579568, 2.3317486953559574], "label": "toilet", "in_reference": true}, {"bbox_3d": [-0.8485541660193316, 0.12680854520215212, 0.5868630759737443, 0.5763193189792635, 1.3595630034339428, 0.7601760923862457, 3.0659676478143534, 0.8092875591621116, -3.0943976178321884], "label": "vanity", "in_reference": true}, {"bbox_3d": [0.5400262984227351, -0.4058314605919685, 0.6249431309725666, 0.9379553404301404, 0.38516008014559744, 1.9931078180670738, -1.612249687961203, 0.03255891254579568, 2.3317486953559574], "label": "curtain", "in_reference": true}, {"bbox_3d": [0.4441868898677909, 0.6057861529376051, 1.0530734375244017, 0.24729577447271367, 0.6788027273225785, 0.06400210782885551, -0.07562500577544085, -0.8092875591621114, 3.094397617832188], "label": "towel", "in_reference": true}, {"bbox_3d": [0.049936345069404, -0.4725973202236341, 1.004708012179011, 0.23011386528253563, 0.289087408261776, 0.13662278652191162, -1.612249687961203, 0.03255891254579568, 2.3317486953559574], "label": "towel", "in_reference": true}, {"bbox_3d": [-0.2827734115117664, -0.23670738262672175, 1.3020584651523097, 0.10836559584641448, 0.14128725553917887, 0.1498140394687652, -1.612249687961203, 0.03255891254579568, 2.3317486953559574], "label": "toilet paper", "in_reference": true}, {"bbox_3d": [-0.2651373511504321, -0.010590442678106715, 1.4883017951949815, 0.17103406410837163, 0.33834558223831657, 0.3234977163374424, -1.612249687961203, 0.03255891254579568, 2.3317486953559574], "label": "bin", "in_reference": true}, {"bbox_3d": [-0.7174322721893985, -0.006029381545907153, 1.089050677895834, 0.19093326702728353, 0.29676955574011, 0.16630184379879176, 3.0659676478143525, 0.8092875591621116, -3.0943976178321875], "label": "towel", "in_reference": true}, {"bbox_3d": [0.0927373219432335, -0.9276760452924582, 0.6760448247745828, 0.05325960408604158, 0.430757935346365, 0.507440447807312, -1.612249687961203, 0.03255891254579568, 2.3317486953559574], "label": "picture", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[-0.883017, 0.328318, -0.335392, 1.603932], [0.469279, 0.606073, -0.642224, 2.126585], [-0.007581, -0.724488, -0.689246, 1.208418], [0.0, 0.0, 0.0, 1.0]], [[-0.777852, 0.403088, -0.482146, 1.706066], [0.626884, 0.551758, -0.550072, 2.065489], [0.044301, -0.730125, -0.681876, 1.192786], [0.0, 0.0, 0.0, 1.0]], [[-0.692247, 0.417133, -0.588892, 1.882389], [0.71919, 0.466221, -0.515173, 1.995635], [0.059658, -0.780153, -0.622738, 1.11823], [0.0, 0.0, 0.0, 1.0]], [[-0.731994, 0.345763, -0.587054, 1.853997], [0.680963, 0.398838, -0.614182, 1.985971], [0.021777, -0.849339, -0.527399, 1.213038], [0.0, 0.0, 0.0, 1.0]], [[-0.74733, 0.257886, -0.612365, 1.758899], [0.662227, 0.21371, -0.718181, 2.064107], [-0.054341, -0.942243, -0.330491, 1.32109], [0.0, 0.0, 0.0, 1.0]], [[-0.671118, 0.135273, -0.728904, 1.745333], [0.741318, 0.131649, -0.658116, 2.079366], [0.006934, -0.982023, -0.188632, 1.405319], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}, {"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"bathtub\", \"bbox_3d\": [0.97, 0.63, 1.11, 1.21, 0.74, 0.38, -1.71, 0.31, 2.1]},\n\t{\"label\": \"toilet\", \"bbox_3d\": [0.1, 0.33, 1.12, 0.74, 0.45, 0.82, -1.71, 0.31, 2.1]},\n\t{\"label\": \"curtain\", \"bbox_3d\": [0.54, -0.26, 0.9, 0.94, 0.39, 1.99, -1.71, 0.31, 2.1]},\n\t{\"label\": \"towel\", \"bbox_3d\": [-0.02, -0.18, 1.14, 0.23, 0.29, 0.14, -1.71, 0.31, 2.1]},\n\t{\"label\": \"toilet paper\", \"bbox_3d\": [-0.37, 0.16, 1.28, 0.11, 0.14, 0.15, -1.71, 0.31, 2.1]},\n\t{\"label\": \"bin\", \"bbox_3d\": [-0.36, 0.43, 1.4, 0.17, 0.34, 0.32, -1.71, 0.31, 2.1]},\n\t{\"label\": \"picture\", \"bbox_3d\": [0.02, -0.7, 0.95, 0.05, 0.43, 0.51, -1.71, 0.31, 2.1]}\n]```"}], "images": ["3_0.jpg", "3_1.jpg", "3_2.jpg", "3_3.jpg", "3_4.jpg", "3_5.jpg"], "boxes": [{"bbox_3d": [0.971616797109324, 0.6268264980777103, 1.1129465534266212, 1.205954829659179, 0.7363230770765543, 0.38308069482445717, -1.7079004302389533, 0.30571459360200004, 2.1007180303278963], "label": "bathtub", "in_reference": true}, {"bbox_3d": [0.10001863119421736, 0.3310169242336962, 1.1157234489879482, 0.7353889074944258, 0.4506813515427113, 0.8246120158582926, -1.7079004302389533, 0.30571459360200004, 2.1007180303278963], "label": "toilet", "in_reference": true}, {"bbox_3d": [0.544589469906186, -0.259912843315974, 0.8959956681687292, 0.9379553404301404, 0.38516008014559744, 1.9931078180670738, -1.7079004302389533, 0.30571459360200004, 2.1007180303278963], "label": "curtain", "in_reference": true}, {"bbox_3d": [-0.023359923399410898, -0.17566146373022928, 1.1393110492502563, 0.23011386528253563, 0.289087408261776, 0.13662278652191162, -1.7079004302389533, 0.30571459360200004, 2.1007180303278963], "label": "towel", "in_reference": true}, {"bbox_3d": [-0.3724806315562156, 0.16182796593744664, 1.2770544278821374, 0.10836559584641448, 0.14128725553917887, 0.1498140394687652, -1.7079004302389533, 0.30571459360200004, 2.1007180303278963], "label": "toilet paper", "in_reference": true}, {"bbox_3d": [-0.36146438037004464, 0.42599505293762685, 1.4044160267270134, 0.17103406410837163, 0.33834558223831657, 0.3234977163374424, -1.7079004302389533, 0.30571459360200004, 2.1007180303278963], "label": "bin", "in_reference": true}, {"bbox_3d": [0.01911483178964979, -0.7029728754695509, 0.9467309703557859, 0.05325960408604158, 0.430757935346365, 0.507440447807312, -1.7079004302389533, 0.30571459360200004, 2.1007180303278963], "label": "picture", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[-0.718255, 0.31474, -0.620522, 1.813181], [0.695007, 0.366558, -0.618548, 2.003687], [0.032775, -0.875542, -0.482028, 1.254086], [0.0, 0.0, 0.0, 1.0]], [[-0.740557, 0.213142, -0.637296, 1.754107], [0.671455, 0.196739, -0.714452, 2.067353], [-0.026899, -0.957008, -0.288811, 1.339735], [0.0, 0.0, 0.0, 1.0]], [[-0.644923, 0.091783, -0.758715, 1.749249], [0.76419, 0.065351, -0.641672, 2.089244], [-0.009312, -0.993632, -0.112286, 1.439772], [0.0, 0.0, 0.0, 1.0]], [[-0.618246, -0.065976, -0.783211, 1.743969], [0.785733, -0.026638, -0.617992, 2.100671], [0.019909, -0.997466, 0.068308, 1.544245], [0.0, 0.0, 0.0, 1.0]], [[-0.621298, 0.144353, -0.770162, 1.722395], [0.783455, 0.097325, -0.61378, 2.093514], [-0.013645, -0.984729, -0.173562, 1.438139], [0.0, 0.0, 0.0, 1.0]], [[-0.596519, 0.360381, -0.71714, 1.766339], [0.801983, 0.232628, -0.550189, 2.066681], [-0.031452, -0.903333, -0.427786, 1.313133], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}, {"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"bathtub\", \"bbox_3d\": [0.73, 0.15, 1.33, 1.21, 0.74, 0.38, -2.06, 0.46, 2.36]},\n\t{\"label\": \"toilet\", \"bbox_3d\": [-0.16, 0.1, 1.11, 0.74, 0.45, 0.82, -2.06, 0.46, 2.36]},\n\t{\"label\": \"curtain\", \"bbox_3d\": [0.18, -0.55, 0.86, 0.94, 0.39, 1.99, -2.06, 0.46, 2.36]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.36, 0.48, 1.22, 0.25, 0.68, 0.06, -0.9, -0.69, 2.54]},\n\t{\"label\": \"towel\", \"bbox_3d\": [-0.4, -0.36, 1.01, 0.23, 0.29, 0.14, -2.06, 0.46, 2.36]},\n\t{\"label\": \"bin\", \"bbox_3d\": [-0.65, 0.27, 1.32, 0.17, 0.34, 0.32, -2.06, 0.46, 2.36]},\n\t{\"label\": \"doorframe\", \"bbox_3d\": [0.31, 0.28, -0.08, 0.23, 0.89, 2.0, 1.09, -0.46, -2.36]}\n]```"}], "images": ["4_0.jpg", "4_1.jpg", "4_2.jpg", "4_3.jpg", "4_4.jpg", "4_5.jpg"], "boxes": [{"bbox_3d": [0.7276924947091736, 0.15138439875837972, 1.3324503082944374, 1.205954829659179, 0.7363230770765543, 0.38308069482445717, -2.055372071961928, 0.4552778408960827, 2.358272025918555], "label": "bathtub", "in_reference": true}, {"bbox_3d": [-0.1640933364123001, 0.09837193485442153, 1.1108595502184802, 0.7353889074944258, 0.4506813515427113, 0.8246120158582926, -2.055372071961928, 0.4552778408960827, 2.358272025918555], "label": "toilet", "in_reference": true}, {"bbox_3d": [0.1753342916829278, -0.5481706844113244, 0.8620778546837545, 0.9379553404301404, 0.38516008014559744, 1.9931078180670738, -2.055372071961928, 0.4552778408960827, 2.358272025918555], "label": "curtain", "in_reference": true}, {"bbox_3d": [0.36196611183754956, 0.4779847769167234, 1.2198844729851734, 0.24729577447271367, 0.6788027273225785, 0.06400210782885551, -0.8973123274288243, -0.6864035584981966, 2.536974263597935], "label": "towel", "in_reference": true}, {"bbox_3d": [-0.3999012112250663, -0.3554994184714183, 1.0064695015688399, 0.23011386528253563, 0.289087408261776, 0.13662278652191162, -2.055372071961928, 0.4552778408960827, 2.358272025918555], "label": "towel", "in_reference": true}, {"bbox_3d": [-0.6467319278362007, 0.26636500587913375, 1.321023850172846, 0.17103406410837163, 0.33834558223831657, 0.3234977163374424, -2.055372071961928, 0.4552778408960827, 2.358272025918555], "label": "bin", "in_reference": true}, {"bbox_3d": [0.3088969695592778, 0.28043780698327797, -0.07754344538430957, 0.22768832082343105, 0.8877935466194152, 2.000798767488231, 1.0862205816278652, -0.45527784089608203, -2.358272025918554], "label": "doorframe", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[-0.464749, 0.58308, -0.666352, 1.759798], [0.883854, 0.260442, -0.388551, 2.055449], [-0.05301, -0.769537, -0.636398, 1.203686], [0.0, 0.0, 0.0, 1.0]], [[-0.494923, 0.659577, -0.565693, 1.726982], [0.866336, 0.324216, -0.37993, 2.060607], [-0.067186, -0.678117, -0.731877, 1.171439], [0.0, 0.0, 0.0, 1.0]], [[-0.162744, 0.732018, -0.661562, 1.721327], [0.986587, 0.11211, -0.11865, 1.94281], [-0.012687, -0.671998, -0.740444, 1.166499], [0.0, 0.0, 0.0, 1.0]], [[0.053666, 0.763909, -0.643089, 1.683699], [0.998555, -0.039299, 0.036648, 1.881736], [0.002723, -0.644127, -0.764914, 1.166588], [0.0, 0.0, 0.0, 1.0]], [[0.279973, 0.722086, -0.632619, 1.674471], [0.959886, -0.200054, 0.196463, 1.807119], [0.015306, -0.662246, -0.74913, 1.170074], [0.0, 0.0, 0.0, 1.0]], [[0.435012, 0.655354, -0.617474, 1.615719], [0.900023, -0.336953, 0.276444, 1.715232], [-0.026891, -0.675998, -0.736413, 1.179717], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}, {"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"bathtub\", \"bbox_3d\": [0.84, 0.63, 1.21, 1.21, 0.74, 0.38, -1.82, 0.43, 2.06]},\n\t{\"label\": \"toilet\", \"bbox_3d\": [-0.06, 0.45, 1.13, 0.74, 0.45, 0.82, -1.82, 0.43, 2.06]},\n\t{\"label\": \"curtain\", \"bbox_3d\": [0.33, -0.21, 0.99, 0.94, 0.39, 1.99, -1.82, 0.43, 2.06]},\n\t{\"label\": \"towel\", \"bbox_3d\": [-0.25, -0.04, 1.16, 0.23, 0.29, 0.14, -1.82, 0.43, 2.06]},\n\t{\"label\": \"toilet paper\", \"bbox_3d\": [-0.56, 0.35, 1.24, 0.11, 0.14, 0.15, -1.82, 0.43, 2.06]},\n\t{\"label\": \"bin\", \"bbox_3d\": [-0.53, 0.62, 1.35, 0.17, 0.34, 0.32, -1.82, 0.43, 2.06]},\n\t{\"label\": \"picture\", \"bbox_3d\": [-0.26, -0.58, 1.0, 0.05, 0.43, 0.51, -1.82, 0.43, 2.06]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.43, 0.88, 1.08, 0.25, 0.68, 0.06, -0.92, -0.93, 2.37]},\n\t{\"label\": \"doorframe\", \"bbox_3d\": [0.26, 0.37, -0.12, 0.23, 0.89, 2.0, 1.32, -0.43, -2.06]}\n]```"}], "images": ["5_0.jpg", "5_1.jpg", "5_2.jpg", "5_3.jpg", "5_4.jpg", "5_5.jpg"], "boxes": [{"bbox_3d": [0.8408328094076946, 0.6282850114588248, 1.2120315501961225, 1.205954829659179, 0.7363230770765543, 0.38308069482445717, -1.824757264576374, 0.4306154775213371, 2.060951267845458], "label": "bathtub", "in_reference": true}, {"bbox_3d": [-0.0573967778384461, 0.44623661146316274, 1.126972454504151, 0.7353889074944258, 0.4506813515427113, 0.8246120158582926, -1.824757264576374, 0.4306154775213371, 2.060951267845458], "label": "toilet", "in_reference": true}, {"bbox_3d": [0.32571048384060036, -0.2098328358815328, 0.9930973626881776, 0.9379553404301404, 0.38516008014559744, 1.9931078180670738, -1.824757264576374, 0.4306154775213371, 2.060951267845458], "label": "curtain", "in_reference": true}, {"bbox_3d": [-0.24928682070213326, -0.03793055096772169, 1.1624923352848722, 0.23011386528253563, 0.289087408261776, 0.13662278652191162, -1.824757264576374, 0.4306154775213371, 2.060951267845458], "label": "towel", "in_reference": true}, {"bbox_3d": [-0.563214912523475, 0.3496648210283364, 1.2397990796097302, 0.10836559584641448, 0.14128725553917887, 0.1498140394687652, -1.824757264576374, 0.4306154775213371, 2.060951267845458], "label": "toilet paper", "in_reference": true}, {"bbox_3d": [-0.5311362152866091, 0.6183386458357814, 1.3534290428422935, 0.17103406410837163, 0.33834558223831657, 0.3234977163374424, -1.824757264576374, 0.4306154775213371, 2.060951267845458], "label": "bin", "in_reference": true}, {"bbox_3d": [-0.256662764946148, -0.5782234981970059, 1.0044508114156936, 0.05325960408604158, 0.430757935346365, 0.507440447807312, -1.824757264576374, 0.4306154775213371, 2.060951267845458], "label": "picture", "in_reference": true}, {"bbox_3d": [0.430196223364623, 0.8847762783476305, 1.0753406895869126, 0.24729577447271367, 0.6788027273225785, 0.06400210782885551, -0.917821345687862, -0.9301632727046469, 2.3684464014826516], "label": "towel", "in_reference": false}, {"bbox_3d": [0.2630535561659251, 0.3723813563767816, -0.12243861364161912, 0.22768832082343105, 0.8877935466194152, 2.000798767488231, 1.3168353890134195, -0.43061547752133666, -2.060951267845457], "label": "doorframe", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[-0.596519, 0.360381, -0.71714, 1.766339], [0.801983, 0.232628, -0.550189, 2.066681], [-0.031452, -0.903333, -0.427786, 1.313133], [0.0, 0.0, 0.0, 1.0]], [[-0.464749, 0.58308, -0.666352, 1.759798], [0.883854, 0.260442, -0.388551, 2.055449], [-0.05301, -0.769537, -0.636398, 1.203686], [0.0, 0.0, 0.0, 1.0]], [[-0.494923, 0.659577, -0.565693, 1.726982], [0.866336, 0.324216, -0.37993, 2.060607], [-0.067186, -0.678117, -0.731877, 1.171439], [0.0, 0.0, 0.0, 1.0]], [[-0.162744, 0.732018, -0.661562, 1.721327], [0.986587, 0.11211, -0.11865, 1.94281], [-0.012687, -0.671998, -0.740444, 1.166499], [0.0, 0.0, 0.0, 1.0]], [[0.053666, 0.763909, -0.643089, 1.683699], [0.998555, -0.039299, 0.036648, 1.881736], [0.002723, -0.644127, -0.764914, 1.166588], [0.0, 0.0, 0.0, 1.0]], [[0.279973, 0.722086, -0.632619, 1.674471], [0.959886, -0.200054, 0.196463, 1.807119], [0.015306, -0.662246, -0.74913, 1.170074], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}, {"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"bag\", \"bbox_3d\": [0.31, -0.13, 0.93, 0.26, 0.26, 0.15, -1.46, -0.37, 2.09]},\n\t{\"label\": \"doorframe\", \"bbox_3d\": [-0.34, 0.2, 0.28, 0.23, 0.89, 2.0, -2.47, 0.95, 2.48]},\n\t{\"label\": \"door\", \"bbox_3d\": [-0.43, 0.21, 0.34, 0.12, 0.83, 1.96, -2.47, 0.95, 2.48]},\n\t{\"label\": \"vanity\", \"bbox_3d\": [0.66, 0.2, 0.77, 0.58, 1.36, 0.76, -1.46, -0.37, 2.09]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.19, 0.01, 0.78, 0.35, 0.39, 0.11, -1.46, -0.37, 2.09]},\n\t{\"label\": \"mirror\", \"bbox_3d\": [0.73, -0.29, 0.78, 0.1, 1.3, 0.27, -1.46, -0.37, 2.09]},\n\t{\"label\": \"sink\", \"bbox_3d\": [0.66, 0.09, 0.68, 0.39, 0.61, 0.18, -1.46, -0.37, 2.09]},\n\t{\"label\": \"stopcock\", \"bbox_3d\": [0.74, -0.13, 0.78, 0.21, 0.11, 0.16, -1.46, -0.37, 2.09]},\n\t{\"label\": \"towel\", \"bbox_3d\": [1.04, 0.53, 0.6, 0.19, 0.3, 0.17, -1.46, -0.37, 2.09]},\n\t{\"label\": \"bag\", \"bbox_3d\": [0.98, 0.1, 0.37, 0.21, 0.32, 0.14, -1.46, -0.37, 2.09]},\n\t{\"label\": \"toilet\", \"bbox_3d\": [0.67, 0.94, -0.03, 0.74, 0.45, 0.82, 0.67, -0.95, -2.48]},\n\t{\"label\": \"toilet paper\", \"bbox_3d\": [1.15, 0.76, 0.12, 0.11, 0.14, 0.15, 0.67, -0.95, -2.48]},\n\t{\"label\": \"bin\", \"bbox_3d\": [1.14, 1.02, 0.25, 0.17, 0.34, 0.32, 0.67, -0.95, -2.48]}\n]```"}], "images": ["6_0.jpg", "6_1.jpg", "6_2.jpg", "6_3.jpg", "6_4.jpg", "6_5.jpg"], "boxes": [{"bbox_3d": [0.30765761510158407, -0.1278012351161869, 0.9316112474577557, 0.26441568355512635, 0.26486724557876595, 0.14745813608169556, -1.45999778241359, -0.36789864200725275, 2.088798834840597], "label": "bag", "in_reference": true}, {"bbox_3d": [-0.337529360551174, 0.1983312951641356, 0.2839850491271717, 0.22768832082343105, 0.8877935466194152, 2.000798767488231, -2.467840775051319, 0.9453018288809125, 2.48012890639437], "label": "doorframe", "in_reference": true}, {"bbox_3d": [-0.42799555987879956, 0.2097598083216471, 0.34242543406953835, 0.11925513545799271, 0.8273084094967844, 1.959772996269214, -2.467840775051319, 0.9453018288809125, 2.48012890639437], "label": "door", "in_reference": true}, {"bbox_3d": [0.6627813448190151, 0.19716888450339454, 0.7654508748558444, 0.5763193189792635, 1.3595630034339428, 0.7601760923862457, -1.45999778241359, -0.36789864200725275, 2.088798834840597], "label": "vanity", "in_reference": true}, {"bbox_3d": [0.1946311417183914, 0.0074721471340583046, 0.7779360383904363, 0.3476256076331139, 0.3920801602616306, 0.1058797836303711, -1.45999778241359, -0.36789864200725275, 2.088798834840597], "label": "towel", "in_reference": true}, {"bbox_3d": [0.732868035694937, -0.28694687676623765, 0.7783880594250968, 0.09779024101877187, 1.3023337962787154, 0.26596927642822266, -1.45999778241359, -0.36789864200725275, 2.088798834840597], "label": "mirror", "in_reference": true}, {"bbox_3d": [0.6553574768848797, 0.09198214315643638, 0.6781146447903494, 0.3909219236926477, 0.6073249253382189, 0.18081844785365905, -1.45999778241359, -0.36789864200725275, 2.088798834840597], "label": "sink", "in_reference": true}, {"bbox_3d": [0.7443569474571892, -0.12866114107458337, 0.7831944440035274, 0.21426077100628807, 0.11162265445582342, 0.15639065849181533, -1.4599977824135904, -0.36789864200725164, 2.088798834840597], "label": "stopcock", "in_reference": false}, {"bbox_3d": [1.04276815216565, 0.5348805014133562, 0.5963593402858833, 0.19093326702728353, 0.29676955574011, 0.16630184379879176, -1.4599977824135904, -0.36789864200725164, 2.088798834840597], "label": "towel", "in_reference": false}, {"bbox_3d": [0.9826684237855627, 0.09687815000746114, 0.3659655874129746, 0.21384304321980463, 0.31851652780032147, 0.14486050605773926, -1.45999778241359, -0.36789864200725275, 2.088798834840597], "label": "bag", "in_reference": false}, {"bbox_3d": [0.6740331216430595, 0.9386206735527809, -0.02887546573512445, 0.7353889074944258, 0.4506813515427113, 0.8246120158582926, 0.673751878538474, -0.945301828880912, -2.48012890639437], "label": "toilet", "in_reference": false}, {"bbox_3d": [1.1459544149825116, 0.7559488656058583, 0.11887194268010276, 0.10836559584641448, 0.14128725553917887, 0.1498140394687652, 0.673751878538474, -0.945301828880912, -2.48012890639437], "label": "toilet paper", "in_reference": false}, {"bbox_3d": [1.144263636854171, 1.0184270468561931, 0.25013093448669427, 0.17103406410837163, 0.33834558223831657, 0.3234977163374424, 0.673751878538474, -0.945301828880912, -2.48012890639437], "label": "bin", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[-0.060841, -0.458292, 0.886717, 1.649971], [-0.994862, 0.099866, -0.016647, 2.080762], [-0.080924, -0.883173, -0.462013, 1.299904], [0.0, 0.0, 0.0, 1.0]], [[-0.336117, -0.518465, 0.786269, 1.656414], [-0.934523, 0.28732, -0.210034, 2.13087], [-0.117015, -0.805383, -0.58109, 1.26765], [0.0, 0.0, 0.0, 1.0]], [[-0.52285, -0.462274, 0.716191, 1.58968], [-0.852263, 0.29983, -0.42866, 2.150367], [-0.016577, -0.834509, -0.550746, 1.270226], [0.0, 0.0, 0.0, 1.0]], [[-0.768424, -0.362284, 0.527517, 1.649656], [-0.639371, 0.399848, -0.656755, 2.160021], [0.027005, -0.841946, -0.538886, 1.27938], [0.0, 0.0, 0.0, 1.0]], [[-0.791084, -0.377466, 0.481357, 1.657191], [-0.609173, 0.414583, -0.67604, 2.022502], [0.05562, -0.828034, -0.557912, 1.267075], [0.0, 0.0, 0.0, 1.0]], [[-0.984313, -0.127298, 0.122159, 1.776767], [-0.171808, 0.534138, -0.827755, 2.012335], [0.040122, -0.835758, -0.54763, 1.273133], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}, {"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"bathtub\", \"bbox_3d\": [0.65, -0.1, 1.31, 1.21, 0.74, 0.38, -2.2, 0.44, 2.55]},\n\t{\"label\": \"toilet\", \"bbox_3d\": [-0.22, -0.06, 1.02, 0.74, 0.45, 0.82, -2.2, 0.44, 2.55]},\n\t{\"label\": \"curtain\", \"bbox_3d\": [0.1, -0.68, 0.7, 0.94, 0.39, 1.99, -2.2, 0.44, 2.55]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.31, 0.26, 1.23, 0.25, 0.68, 0.06, -0.91, -0.53, 2.63]},\n\t{\"label\": \"bin\", \"bbox_3d\": [-0.71, 0.11, 1.22, 0.17, 0.34, 0.32, -2.2, 0.44, 2.55]},\n\t{\"label\": \"doorframe\", \"bbox_3d\": [0.35, 0.28, -0.08, 0.23, 0.89, 2.0, 0.94, -0.44, -2.55]},\n\t{\"label\": \"door\", \"bbox_3d\": [0.42, 0.36, -0.12, 0.12, 0.83, 1.96, 0.94, -0.44, -2.55]}\n]```"}], "images": ["7_0.jpg", "7_1.jpg", "7_2.jpg", "7_3.jpg", "7_4.jpg", "7_5.jpg"], "boxes": [{"bbox_3d": [0.6475654705764871, -0.10055994159844597, 1.312164684237546, 1.205954829659179, 0.7363230770765543, 0.38308069482445717, -2.203904567953153, 0.43539614862958365, 2.5530764438787927], "label": "bathtub", "in_reference": true}, {"bbox_3d": [-0.2248917540519331, -0.05582567376095149, 1.0223173696752508, 0.7353889074944258, 0.4506813515427113, 0.8246120158582926, -2.203904567953153, 0.43539614862958365, 2.5530764438787927], "label": "toilet", "in_reference": true}, {"bbox_3d": [0.09566286508492355, -0.6777186191966895, 0.6973325685252334, 0.9379553404301404, 0.38516008014559744, 1.9931078180670738, -2.203904567953153, 0.43539614862958365, 2.5530764438787927], "label": "curtain", "in_reference": true}, {"bbox_3d": [0.3116490298978152, 0.26437715799381534, 1.2280474712833847, 0.24729577447271367, 0.6788027273225785, 0.06400210782885551, -0.9075006400538634, -0.5274548795873515, 2.63167208333321], "label": "towel", "in_reference": true}, {"bbox_3d": [-0.7124633449618686, 0.11061992841156743, 1.2220683797576968, 0.17103406410837163, 0.33834558223831657, 0.3234977163374424, -2.203904567953153, 0.43539614862958365, 2.5530764438787927], "label": "bin", "in_reference": true}, {"bbox_3d": [0.3525990506673443, 0.27606496189157376, -0.08471505625899445, 0.22768832082343105, 0.8877935466194152, 2.000798767488231, 0.937688085636641, -0.435396148629583, -2.5530764438787927], "label": "doorframe", "in_reference": false}, {"bbox_3d": [0.41793623180261885, 0.3556406381418073, -0.11831244758819515, 0.11925513545799271, 0.8273084094967844, 1.959772996269214, 0.937688085636641, -0.435396148629583, -2.5530764438787927], "label": "door", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[-0.37474, 0.71104, -0.594972, 1.716864], [0.926007, 0.255473, -0.27793, 2.011055], [-0.04562, -0.655099, -0.754164, 1.153899], [0.0, 0.0, 0.0, 1.0]], [[-0.137464, 0.727723, -0.671954, 1.695217], [0.989737, 0.074169, -0.12215, 1.97854], [-0.039053, -0.681849, -0.73045, 1.177602], [0.0, 0.0, 0.0, 1.0]], [[0.221182, 0.758152, -0.613419, 1.66863], [0.975126, -0.181221, 0.127625, 1.807608], [-0.014405, -0.62639, -0.779377, 1.173093], [0.0, 0.0, 0.0, 1.0]], [[0.30193, 0.727144, -0.616522, 1.686424], [0.953329, -0.231247, 0.194136, 1.788863], [-0.001405, -0.646364, -0.763028, 1.155364], [0.0, 0.0, 0.0, 1.0]], [[0.565024, 0.599681, -0.566683, 1.587547], [0.824994, -0.420224, 0.377884, 1.660629], [-0.011524, -0.681024, -0.73217, 1.184417], [0.0, 0.0, 0.0, 1.0]], [[0.698139, 0.486207, -0.525552, 1.567961], [0.71578, -0.490554, 0.497007, 1.688485], [-0.016163, -0.72316, -0.690492, 1.206125], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}, {"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"bag\", \"bbox_3d\": [0.61, 0.02, 0.91, 0.26, 0.26, 0.15, -0.68, -1.05, 2.51]},\n\t{\"label\": \"doorframe\", \"bbox_3d\": [-0.36, -0.07, 0.9, 0.23, 0.89, 2.0, -1.69, 0.3, 2.01]},\n\t{\"label\": \"door\", \"bbox_3d\": [-0.38, -0.08, 1.0, 0.12, 0.83, 1.96, -1.69, 0.3, 2.01]},\n\t{\"label\": \"vanity\", \"bbox_3d\": [0.59, 0.42, 0.59, 0.58, 1.36, 0.76, -0.68, -1.05, 2.51]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.38, 0.07, 0.88, 0.35, 0.39, 0.11, -0.68, -1.05, 2.51]},\n\t{\"label\": \"sink\", \"bbox_3d\": [0.58, 0.3, 0.52, 0.39, 0.61, 0.18, -0.68, -1.05, 2.51]},\n\t{\"label\": \"mirror\", \"bbox_3d\": [0.85, 0.01, 0.49, 0.1, 1.3, 0.27, -0.68, -1.05, 2.51]},\n\t{\"label\": \"stopcock\", \"bbox_3d\": [0.79, 0.16, 0.51, 0.21, 0.11, 0.16, -0.68, -1.05, 2.51]},\n\t{\"label\": \"bag\", \"bbox_3d\": [0.58, 0.38, 0.07, 0.21, 0.32, 0.14, -0.68, -1.05, 2.51]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.59, 0.84, 0.26, 0.19, 0.3, 0.17, -0.68, -1.05, 2.51]}\n]```"}], "images": ["8_0.jpg", "8_1.jpg", "8_2.jpg", "8_3.jpg", "8_4.jpg", "8_5.jpg"], "boxes": [{"bbox_3d": [0.6112697681571052, 0.018131137368381567, 0.9051805802692294, 0.26441568355512635, 0.26486724557876595, 0.14745813608169556, -0.6812369803373142, -1.045151011159886, 2.5103809032876874], "label": "bag", "in_reference": true}, {"bbox_3d": [-0.3555202287510088, -0.06731183714265732, 0.8970312944952044, 0.22768832082343105, 0.8877935466194152, 2.000798767488231, -1.6882080027615365, 0.3006143024174053, 2.0087703906504015], "label": "doorframe", "in_reference": true}, {"bbox_3d": [-0.38022303410606273, -0.08154793688974693, 1.0015162799921347, 0.11925513545799271, 0.8273084094967844, 1.959772996269214, -1.6882080027615365, 0.3006143024174053, 2.0087703906504015], "label": "door", "in_reference": true}, {"bbox_3d": [0.5945972440733595, 0.41849345166776075, 0.5909201932898929, 0.5763193189792635, 1.3595630034339428, 0.7601760923862457, -0.6812369803373142, -1.045151011159886, 2.5103809032876874], "label": "vanity", "in_reference": true}, {"bbox_3d": [0.3832376682574453, 0.06568840462491332, 0.8844523396708598, 0.3476256076331139, 0.3920801602616306, 0.1058797836303711, -0.6812369803373142, -1.045151011159886, 2.5103809032876874], "label": "towel", "in_reference": true}, {"bbox_3d": [0.5773329534619216, 0.30431327250205953, 0.5173554087607579, 0.3909219236926477, 0.6073249253382189, 0.18081844785365905, -0.6812369803373142, -1.045151011159886, 2.5103809032876874], "label": "sink", "in_reference": true}, {"bbox_3d": [0.8499867517518891, 0.013544903417813337, 0.489727237302308, 0.09779024101877187, 1.3023337962787154, 0.26596927642822266, -0.6812369803373142, -1.045151011159886, 2.5103809032876874], "label": "mirror", "in_reference": false}, {"bbox_3d": [0.7942808971348179, 0.16125065163798402, 0.5067358636948855, 0.21426077100628807, 0.11162265445582342, 0.15639065849181533, -0.6812369803373154, -1.0451510111598854, 2.5103809032876865], "label": "stopcock", "in_reference": false}, {"bbox_3d": [0.5822521512798748, 0.37810192848150537, 0.07112203296367847, 0.21384304321980463, 0.31851652780032147, 0.14486050605773926, -0.6812369803373142, -1.045151011159886, 2.5103809032876874], "label": "bag", "in_reference": false}, {"bbox_3d": [0.5865685785610836, 0.8395554982437108, 0.25975078997146084, 0.19093326702728353, 0.29676955574011, 0.16630184379879176, -0.6812369803373154, -1.0451510111598854, 2.5103809032876865], "label": "towel", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[0.72616, -0.266131, 0.633929, 1.503024], [-0.687273, -0.305968, 0.658817, 1.575722], [0.018631, -0.914089, -0.405087, 1.329323], [0.0, 0.0, 0.0, 1.0]], [[0.380403, -0.492678, 0.782663, 1.654729], [-0.923898, -0.164658, 0.345398, 1.791322], [-0.041299, -0.854492, -0.517821, 1.278158], [0.0, 0.0, 0.0, 1.0]], [[-0.189706, -0.514144, 0.836461, 1.665102], [-0.978727, 0.166822, -0.119431, 2.158844], [-0.078135, -0.841324, -0.534854, 1.279393], [0.0, 0.0, 0.0, 1.0]], [[-0.387337, -0.493171, 0.778943, 1.591527], [-0.917449, 0.289464, -0.272943, 2.108667], [-0.090868, -0.820361, -0.56458, 1.277468], [0.0, 0.0, 0.0, 1.0]], [[-0.66565, -0.396789, 0.632035, 1.639336], [-0.745382, 0.394685, -0.537243, 2.215278], [-0.036282, -0.828723, -0.558481, 1.272729], [0.0, 0.0, 0.0, 1.0]], [[-0.799102, -0.33993, 0.495866, 1.642791], [-0.599279, 0.384591, -0.702107, 2.089377], [0.047962, -0.858217, -0.511041, 1.277073], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}, {"conversations": [{"from": "human", "value": "<image>\n<image>\n<image>\n<image>\n<image>\n<image>\nDetect the 3D bounding boxes in the camera coordinate system of the first frame.\nOutput a json list where each entry contains the object name in \"label\" and its 3D bounding box in \"bbox_3d\".\nThe 3D bounding box format should be [x_center, y_center, z_center, x_size, y_size, z_size, yaw, roll, pitch]."}, {"from": "gpt", "value": "```json\n[\n\t{\"label\": \"bathtub\", \"bbox_3d\": [0.98, 0.73, 1.03, 1.21, 0.74, 0.38, -1.72, 0.29, 2.0]},\n\t{\"label\": \"toilet\", \"bbox_3d\": [0.1, 0.47, 1.09, 0.74, 0.45, 0.82, -1.72, 0.29, 2.0]},\n\t{\"label\": \"curtain\", \"bbox_3d\": [0.51, -0.15, 0.92, 0.94, 0.39, 1.99, -1.72, 0.29, 2.0]},\n\t{\"label\": \"towel\", \"bbox_3d\": [-0.05, -0.02, 1.17, 0.23, 0.29, 0.14, -1.72, 0.29, 2.0]},\n\t{\"label\": \"toilet paper\", \"bbox_3d\": [-0.38, 0.34, 1.28, 0.11, 0.14, 0.15, -1.72, 0.29, 2.0]},\n\t{\"label\": \"bin\", \"bbox_3d\": [-0.35, 0.62, 1.38, 0.17, 0.34, 0.32, -1.72, 0.29, 2.0]},\n\t{\"label\": \"picture\", \"bbox_3d\": [-0.03, -0.57, 1.02, 0.05, 0.43, 0.51, -1.72, 0.29, 2.0]},\n\t{\"label\": \"towel\", \"bbox_3d\": [0.53, 0.95, 0.95, 0.25, 0.68, 0.06, -0.71, -1.06, 2.52]}\n]```"}], "images": ["9_0.jpg", "9_1.jpg", "9_2.jpg", "9_3.jpg", "9_4.jpg", "9_5.jpg"], "boxes": [{"bbox_3d": [0.9774235367274191, 0.7317851283749068, 1.0331921976379252, 1.205954829659179, 0.7363230770765543, 0.38308069482445717, -1.7179441772451052, 0.2876218142149798, 1.996553889055641], "label": "bathtub", "in_reference": true}, {"bbox_3d": [0.09558148736103386, 0.47440202052379676, 1.0906513265236562, 0.7353889074944258, 0.4506813515427113, 0.8246120158582926, -1.7179441772451052, 0.2876218142149798, 1.996553889055641], "label": "toilet", "in_reference": true}, {"bbox_3d": [0.5091453941445697, -0.15288796621785639, 0.9157427120995464, 0.9379553404301404, 0.38516008014559744, 1.9931078180670738, -1.7179441772451052, 0.2876218142149798, 1.996553889055641], "label": "curtain", "in_reference": true}, {"bbox_3d": [-0.046528448427751196, -0.022105690304061065, 1.1667193932509594, 0.23011386528253563, 0.289087408261776, 0.13662278652191162, -1.7179441772451052, 0.2876218142149798, 1.996553889055641], "label": "towel", "in_reference": true}, {"bbox_3d": [-0.37739864678857027, 0.3413100215542104, 1.2816596334841868, 0.10836559584641448, 0.14128725553917887, 0.1498140394687652, -1.7179441772451052, 0.2876218142149798, 1.996553889055641], "label": "toilet paper", "in_reference": true}, {"bbox_3d": [-0.3518131766674183, 0.6157080067259078, 1.3825436643225952, 0.17103406410837163, 0.33834558223831657, 0.3234977163374424, -1.7179441772451052, 0.2876218142149798, 1.996553889055641], "label": "bin", "in_reference": true}, {"bbox_3d": [-0.03113257436475253, -0.5666730531180019, 1.0247423643094418, 0.05325960408604158, 0.430757935346365, 0.507440447807312, -1.7179441772451052, 0.2876218142149798, 1.996553889055641], "label": "picture", "in_reference": true}, {"bbox_3d": [0.5304403837768789, 0.9488767052242727, 0.954631094400838, 0.24729577447271367, 0.6788027273225785, 0.06400210782885551, -0.7061235362637666, -1.0619653229494914, 2.5200346642025044], "label": "towel", "in_reference": false}], "cam2img": [[1170.18798828125, 0.0, 647.75, 0.0], [0.0, 1170.18798828125, 483.75, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "cam2global": [[[-0.726092, 0.284073, -0.626173, 1.770768], [0.687372, 0.276523, -0.671607, 2.040015], [-0.017635, -0.918062, -0.396045, 1.298898], [0.0, 0.0, 0.0, 1.0]], [[-0.721722, 0.166878, -0.671765, 1.750653], [0.692182, 0.174776, -0.700241, 2.071908], [0.000554, -0.970363, -0.24165, 1.36745], [0.0, 0.0, 0.0, 1.0]], [[-0.651982, 0.028785, -0.757687, 1.757043], [0.758216, 0.017817, -0.65176, 2.086791], [-0.005261, -0.999427, -0.033441, 1.482734], [0.0, 0.0, 0.0, 1.0]], [[-0.614996, -0.060788, -0.786184, 1.73819], [0.788382, -0.028032, -0.614548, 2.104031], [0.015318, -0.997757, 0.065164, 1.550758], [0.0, 0.0, 0.0, 1.0]], [[-0.634323, 0.215431, -0.742444, 1.742436], [0.772265, 0.132833, -0.621258, 2.080568], [-0.035217, -0.967442, -0.250629, 1.398675], [0.0, 0.0, 0.0, 1.0]], [[-0.53889, 0.429823, -0.724465, 1.763601], [0.842242, 0.259566, -0.472498, 2.061377], [-0.015044, -0.864799, -0.501893, 1.266128], [0.0, 0.0, 0.0, 1.0]]], "axis_align_matrix": [[0.422618, 0.906308, 0.0, -2.27597], [-0.906308, 0.422618, 0.0, 0.726104], [0.0, 0.0, 1.0, -0.045973], [0.0, 0.0, 0.0, 1.0]]}]